CN114630575A - Solid material scattering control method and device, scattering machine and movable platform - Google Patents
Solid material scattering control method and device, scattering machine and movable platform Download PDFInfo
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- CN114630575A CN114630575A CN202080071602.XA CN202080071602A CN114630575A CN 114630575 A CN114630575 A CN 114630575A CN 202080071602 A CN202080071602 A CN 202080071602A CN 114630575 A CN114630575 A CN 114630575A
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- 230000007480 spreading Effects 0.000 claims description 48
- 230000008859 change Effects 0.000 claims description 21
- 238000003860 storage Methods 0.000 claims description 18
- 238000005303 weighing Methods 0.000 claims description 18
- 238000009331 sowing Methods 0.000 claims description 11
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Sowing (AREA)
Abstract
A corresponding relation between the flow of a first solid material and the opening degree of a discharge port is represented through a pre-established control model, and then the first solid material is subjected to flow control based on the control model, so that the flow control is not required to be carried out based on the flow of the solid material measured in real time in the running process of the movable platform, the influence of the running of the movable platform on a flow measurement result is reduced, and the accuracy of the flow control is improved.
Description
The disclosure relates to the technical field of agricultural unmanned aerial vehicles, in particular to a solid material sowing control method and device, a sowing machine and a movable platform.
At present, in order to improve the spreading efficiency of solid materials (for example, seeds), the solid materials are often loaded on a movable platform and spread by the movable platform during driving. In the process of spreading the solid materials, the spreading flow rate of the solid materials needs to be controlled. The traditional method generally adopts a solid flow meter, measures the flow of solid materials based on the reflection frequency and amplitude of the materials, and controls the opening degree of a material outlet of the materials based on the calculated flow and the required target flow, thereby realizing the flow control of the materials. However, in the driving process of the movable platform, due to jolts or attitude changes and the like, the reflection frequency and amplitude of the material are affected, the measurement value of the solid flow meter is inaccurate, and the accuracy of flow control is low.
Disclosure of Invention
The disclosure provides a solid material scattering control method and device, a scattering machine and a movable platform, which can improve the accuracy of flow control.
In a first aspect, an embodiment of the present disclosure provides a solid material spreading control method for controlling a spreading flow rate of a first solid material carried by a movable platform during a driving process, where the method includes: acquiring a pre-established control model of a first solid material, wherein the control model is used for representing the corresponding relation between the flow of the first solid material and the opening of a discharge hole; when the first solid materials are scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control the target flow rate of the first solid materials.
In a second aspect, the disclosed embodiments provide a solid material spreading control apparatus for controlling a spreading flow rate of a first solid material carried by a movable platform during traveling, the apparatus including a processor and a memory, the memory being configured to store instructions, and the processor calling the instructions stored in the memory to perform the following operations: acquiring a pre-established control model of a first solid material, wherein the control model is used for representing the corresponding relation between the flow of the first solid material and the opening of a discharge hole; when the first solid materials are scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control the target flow of the first solid materials.
In a third aspect, the disclosed embodiments provide a spreader, mounted on a movable platform, for spreading a first solid material loaded on the movable platform during a driving process; the sowing machine comprises: the mechanical valve is arranged at a discharge port of the material box for loading the first solid material and is used for controlling the opening degree of the discharge port; and the spreading control unit is used for acquiring a pre-established control model of the first solid material, the control model is used for representing the corresponding relation between the flow of the first solid material and the opening degree of the discharge port, when the first solid material is spread, the opening amount of the mechanical valve is controlled according to the control model, so that the discharge port is adjusted to a target opening degree, and the target flow of spreading the first solid material is controlled.
In a fourth aspect, embodiments of the present disclosure provide a movable platform, comprising: the device for controlling the spreading of solid materials according to any embodiment of the present disclosure, or the spreader according to any embodiment of the present disclosure.
In a fifth aspect, an embodiment of the present disclosure provides a solid material spreading control system for controlling a spreading flow rate of a first solid material carried by a movable platform during traveling, the system including: a seed spreader according to any embodiment of the present disclosure; and the user terminal is used for acquiring a control instruction input by a user, carrying the identification information of the control model in the control instruction and sending the control instruction to the scattering machine.
In a sixth aspect, the embodiments of the present disclosure provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to perform the video processing method according to any one of the embodiments of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
in the embodiment of the disclosure, the corresponding relation between the flow of the first solid material and the opening degree of the discharge port is represented through the pre-established control model, and the flow of the first solid material is controlled based on the control model, so that the flow of the solid material is not required to be controlled based on the real-time measurement in the running process of the movable platform, the influence of the running of the movable platform on a flow measurement result is reduced, and the accuracy of the flow control is improved.
Fig. 1A and fig. 1B are schematic diagrams of application scenarios of an embodiment of the present disclosure, respectively.
Fig. 2 is a flowchart of a method for controlling the spreading of solid materials according to an embodiment of the disclosure.
FIG. 3 is a schematic diagram of a determination control model of an embodiment of the present disclosure.
FIG. 4 is a schematic diagram of a model selection interface of an embodiment of the present disclosure.
FIG. 5 is a schematic diagram of a model update process of an embodiment of the disclosure.
Fig. 6 is a schematic view of a spreading control device for solid materials according to an embodiment of the present disclosure.
Fig. 7 is a schematic view of a spreader of an embodiment of the disclosure.
Fig. 8 is a schematic view of a movable platform of an embodiment of the disclosure.
Fig. 9 is an interaction diagram of parts in a solid material spreading control system according to an embodiment of the present disclosure.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
At present, in order to improve the spreading efficiency of solid materials (such as seeds, fertilizers, feeds and the like), the solid materials are often loaded on a movable platform and spread by the movable platform during driving. As shown in fig. 1A and fig. 1B, respectively, are schematic diagrams of application scenarios of the embodiments of the present disclosure. In fig. 1A, a chemical fertilizer can be loaded through an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle flies above a farmland area where the chemical fertilizer needs to be spread according to a certain path, and the chemical fertilizer is spread to the farmland in the flying process. As shown in fig. 1B, seeds may be loaded through a sowing machine, run by the sowing machine in an area of a field to be sown, and sown into the field during the running. It can be understood by those skilled in the art that the foregoing embodiments are only used for illustrating possible application scenarios of the technical solutions of the present disclosure, and are not used for limiting the present disclosure.
In the process of sowing solid materials such as seeds and chemical fertilizers, the sowing flow of the solid materials needs to be controlled. Generally, the flow rate is controlled by controlling the opening of the discharge port, and when the current flow rate is smaller than the required target flow rate, the opening of the discharge port is increased, and conversely, the opening of the discharge port is decreased. However, since the physical characteristics and the spreading requirements of different solid materials are very different, even in the same device, the flow rate difference is very large under the same opening degree of the discharge port, and therefore, it is difficult to accurately detect the flow rate of the solid materials through a set of general schemes. The traditional method generally adopts a solid flow meter, roughly estimates the current flow of a solid material based on the reflection frequency and amplitude of the material, and controls the opening of a material outlet based on the calculated current flow and the required target flow, thereby realizing the flow control of the material. However, in the driving process of the movable platform, due to jolts or attitude changes and the like, the reflection frequency and amplitude of the material are affected, the measurement value of the solid flow meter is inaccurate, and the accuracy of flow control is low.
Based on this, the disclosed embodiment provides a solid material spreading control method for controlling a spreading flow rate of a first solid material carried by a movable platform during driving, as shown in fig. 2, the method may include:
201, acquiring a pre-established control model of a first solid material, wherein the control model is used for representing a corresponding relation between the flow of the first solid material and the opening of a discharge port;
202, when the first solid material is scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control a target flow rate for scattering the first solid material.
The method of the embodiment of the present disclosure may be implemented by a control unit, which may be a control unit provided on the movable platform itself, or may be an additional control unit.
The first solid material in the embodiments of the present disclosure may be granular, flake, block, or other shaped solid material that is loaded on a movable platform, for example, in a bin on the movable platform. The material tank may be removably loaded on the movable platform for replacement of material. The material box comprises a discharge port for scattering the first solid material. The material box can be arranged on a holder of the movable platform so as to adjust the direction and the position of the discharge port according to actual needs, thereby effectively realizing the spreading of solid materials. The quantity of material case on the movable platform can be 1 or more, and under the condition that quantity is a plurality of, the discharge gate of every material case can independently be controlled, and the control of each discharge gate does not influence each other.
In 101, a control model of a first solid material of a specified species may be obtained, which may include wheat seeds, rapeseed, rice, urea, compound fertilizer, etc. Because the difference of the object characteristics such as the shape, the size, the density and the like of different types of solid materials can be larger, or because the scattering density requirements of different types of solid materials are different, a control model can be respectively established in advance for each type of first solid material. The established control model may be stored in a storage unit. The storage unit may be a storage unit on the movable platform, or may be a storage unit on a control terminal (e.g., a remote controller, a mobile phone, etc.) associated with the movable platform. As an implementation, the control unit may communicate with the control terminal through the communication interface to receive the control model of the specified kind of the first solid material sent by the user through the control terminal. As another implementation manner, the control unit may obtain a control instruction input by a user through the interaction unit, where the control instruction carries the identification information of the specified category or the identification information of the control model, and call the corresponding control model from the storage unit on the movable platform based on the identification information carried in the control instruction. The control model may comprise a functional expression for characterizing a correspondence of the flow rate of the first solid material of the specified kind to the opening of the discharge opening.
In 202, a required target flow rate may be obtained first, then a target opening corresponding to the target flow rate is queried according to the control model, and then the discharge port is adjusted to the target opening, so as to implement flow rate control. The discharge port can comprise a valve, and the opening degree of the discharge port can be adjusted by adjusting the opening amount of the valve. In some embodiments, the target flow rate may be determined based on the speed of movement of the movable platform, e.g., a larger target flow rate may be used when the movable platform is moving faster, and a smaller target flow rate may be used otherwise. In addition, the target flow rate may be determined based on other factors including, but not limited to, at least one of the type of first solid material, the type of crop, the maturity of the crop, and the like.
In the embodiment of the disclosure, the corresponding relation between the flow of the first solid material and the opening of the discharge hole is represented through the pre-established control model, and the flow of the first solid material is controlled based on the control model, so that the flow of the solid material measured in real time in the running process of the movable platform is not needed to be controlled, the influence of the running of the movable platform on a flow measurement result is reduced, and the accuracy of the flow control is improved.
In some embodiments, the control model may be established based on: and acquiring the weight of the second solid material flowing through the discharge port under the second openings, and establishing the control model according to the second openings and the weight of the second solid material flowing through the discharge port under the corresponding second openings.
The second solid material may be the same type of material as the first solid material, or a different type of material but with similar physical properties. For example, the first solid material and the second solid material are relatively close in size, shape, density, etc. The weight of the second solid material flowing through the discharge port may be weighed by providing a weighing unit at the discharge port, and the weighing unit may determine the weight of the second solid material flowing through the discharge port based on a change in the weight of the material tank before and after the material flows out. For example, when the weight of the material tank is m1 at time t1 and m2 at time t2, the weight of the second solid material flowing through the discharge port in the time period from t1 to t2 is m1-m 2. Alternatively, a weighing unit may be disposed below the discharge port to directly weigh the second solid material flowing out of the discharge port.
A first variation relation of the second opening degree with time within a first period of time, a second variation relation of the weight of the second solid material flowing through the discharge hole with time within the first period of time may be obtained, and the control model may be established based on the first variation relation and the second variation relation. Suppose that the second opening degrees are O in sequence in the first time period1，O 2，……，O nAnd assuming that the weight of the second solid material in the first time period is m in turn1，m 2，……，m nThen can be according to O1，O 2，……，O nObtaining a first variation relation according to m1，m 2，……，m nAnd acquiring a second variation relation, and then establishing a control model.
Optionally, the control model is a discrete model. In this case, the first period may be divided into a plurality of sub-periods, and the second opening degree may be maintained for each sub-period. And respectively acquiring the ratio of the weight of the second solid material flowing through the discharge port in each sub-time period to the sub-time period, and respectively determining the second variation relation of the corresponding time period based on the ratio of each sub-time period.
For example, the size of the outlet valve can be changed automatically or manually by software, such as setting the valve opening to 20%, 40%, 60%, 80%, 100% of the maximum opening, respectively. Respectively, for a period of time, e.g. 30s, under each valve opening. And obtaining the weight of the second solid material flowing through the discharge port under each valve opening by a weighing method, and dividing the weight by the time to obtain the flow under the valve opening. The flow under each valve opening is counted, a curve is fitted, a mathematical model is used for description, a control model is obtained, and the control model can be recorded as y ═ f (x), wherein y is the flow, x is the cabin door opening, and f is a function expression.
Optionally, the control model is a continuous model. In this case, the second opening degree is continuously changed with time in a first period of time, the weight of the second solid material flowing through the discharge port at a plurality of points in time in the first period of time may be determined, and the second change relationship may be determined based on the weight of the second solid material flowing through the discharge port at the plurality of points in time.
As shown in fig. 3, the valve opening size may be controlled to adjust from a first opening (e.g., 0%) to a second opening (e.g., 100%), with the valve opening size varying over time as shown at 301. The weight change curve of the second solid material during this process is measured by the load cell, as shown at 302, and the change in weight rate (i.e., flow) over time is calculated, as shown at 303. The valve opening size is finally counted against the flow as shown at 304.
The establishment of the control model may be performed before the first solid material is spread each time, or may be performed once and used when the first solid material is spread for a plurality of times. Control models corresponding to a plurality of types of solid materials can be established according to the method, and different models can be called under different conditions.
In practical application, the physical properties of the materials can change along with the change of the external environment, so that the flow changes, and the use precision of the original model is further influenced. In the using process of the control model, the original control model can be optimized, updated and improved through real-time measurement and feedback and by combining with relevant algorithms such as machine learning and pattern recognition, so that the control precision is improved. The updating process is similar to the process of establishing the control model, the weighing unit can be controlled to weigh the first solid materials flowing through the discharge port under a plurality of first opening degrees, and the control model is updated according to the plurality of first opening degrees and the weight of the first solid materials flowing through the discharge port under the corresponding first opening degrees.
The updating may include adding a control model, modifying model parameters of a control model, and/or deleting an existing control model. As shown in fig. 4, a currently established control model, such as the urea model, the rice model, etc., shown in the figure, may be displayed on the control terminal, and updating of the existing model (e.g., adding a new model) may be implemented based on an instruction input by a user on the control terminal. As shown in fig. 5, when the model parameters need to be corrected, the amount of change in weight under a certain valve opening during the use of the user can be measured, so as to calculate the flow rate under the certain valve opening, and the data can be updated to the old control model.
In some embodiments, the remaining amount of the first solid material may be detected, and the movable platform is controlled to fly to a designated place when the remaining amount is detected to be less than a preset value. In this way, replenishment and replacement of the first solid material can be carried out in time as soon as it is about to run out. Optionally, a damping rod may be disposed at the discharge port, and the damping rod is mechanically connected to a motor, and the motor is configured to drive the damping rod to rotate at a certain power. The rotational speed of the dampening bars varies with the weight of the solid material in the material tank. When solid materials in the material box are more, the resistance to the rotation of the damping rod is larger, so that the rotation is slower; otherwise the damping rod rotates faster. Therefore, by detecting the rotational speed of the damping rod, the remaining amount of the material can be determined.
The designated location may be a preset material change location. The material replacement place can be determined based on the traveling path of the movable platform, and can also be determined based on the traveling path of the movable platform and the position of the user. The designated place can also be a return point, and when the material scattering is finished, the movable platform can be controlled to return.
Alternatively, the detection of the remaining amount of material may also be achieved in other ways. For example, a distance sensor may be provided in the material tank by detecting the distance to the first solid material and determining the remaining amount based on the distance. For example, the material tank may be placed upside down on the movable platform, with the opening facing downwards for spreading material underneath the movable platform, and a distance sensor may be provided at the top of the material tank. Because the material in the material case will continue to descend when the material is scattered to the distance that distance sensor detected will continue to increase. In the case where the distance detected by the distance sensor is greater than a preset distance threshold, it may be determined that the remaining amount is less than a preset value. For another example, an image sensor may be disposed in the material tank, an image of the material tank may be captured by the image sensor, and the remaining amount may be determined based on the captured image. In practical application, the remaining amount of the material may be detected by other means, which is not exhaustive in the present disclosure.
In some embodiments, the discharge opening is further provided with a flail disc unit for spreading the first solid material flowing through the discharge opening in different directions. The throwing disk unit can rotate at a certain rotating speed under the driving of a motor, when materials are scattered, the materials flowing out of the discharge port fall on the throwing disk unit, and the materials are scattered in different directions through the rotation of the throwing disk unit. In this way, the material can be spread more evenly.
The embodiment of the present disclosure further provides a solid material spreading control device, configured to control a spreading flow rate of a first solid material carried by a movable platform during a driving process, where the device includes a processor and a memory, where the memory is configured to store an instruction, and the processor calls the instruction stored in the memory to perform the following operations:
acquiring a pre-established control model of a first solid material, wherein the control model is used for representing the corresponding relation between the flow of the first solid material and the opening of a discharge hole;
when the first solid materials are scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control the target flow of the first solid materials.
In some embodiments, the processor is further configured to: and acquiring the weight of the second solid material flowing through the discharge port under the second openings, and establishing the control model according to the second openings and the weight of the second solid material flowing through the discharge port under the corresponding second openings.
In some embodiments, the processor is configured to: acquiring a first change relation of the second opening degree along with time change in a first time period; acquiring a second change relation of the weight of the second solid material flowing through the discharge hole along with the change of time in the first time period; and establishing the control model based on the first variation relation and the second variation relation.
In some embodiments, the first period of time comprises a plurality of sub-periods of time, the second opening degree remaining constant during each sub-period of time; the processor is configured to: respectively acquiring the ratio of the weight of the second solid material flowing through the discharge port to the sub-time periods in each sub-time period; and determining the second variation relation of the corresponding time period based on the ratio of each sub-time period.
In some embodiments, the second opening degree is continuously varied with time over a first period of time; the processor is configured to: determining the weight of the second solid material flowing through the discharge port at a plurality of time points in the first time period; determining the second variation relationship based on the weight of the second solid material flowing through the discharge hole at the plurality of time points.
In some embodiments, the discharge opening is provided with a weighing unit for weighing the second solid material flowing through the discharge opening at a plurality of second openings.
In some embodiments, the processor is further configured to: and controlling a weighing unit to weigh the first solid materials flowing through the discharge port under a plurality of first opening degrees, and updating the control model according to the plurality of first opening degrees and the weight of the first solid materials flowing through the discharge port under the corresponding first opening degrees.
In some embodiments, the processor is further configured to: acquiring the moving speed of the movable platform; and determining a target flow rate corresponding to the moving speed.
In some embodiments, the processor is further configured to: detecting the residual amount of the first solid material; and controlling the movable platform to fly to a specified place under the condition that the detected residual amount is less than a preset value.
In some embodiments, the processor is configured to: receiving a control instruction input by a user through an interaction unit, wherein the control instruction carries identification information of the control model; and acquiring the control model based on the identification information.
In some embodiments, the discharge opening is provided with a flail disc unit for spreading the first solid material flowing through the discharge opening in different directions.
In some embodiments, the discharge port is provided with a valve, and the opening degree of the discharge port is controlled based on the opening amount of the valve.
The method executed by the processor in the embodiments of the present disclosure is detailed in the embodiments of the foregoing method, and is not described herein again.
Fig. 6 is a schematic diagram illustrating a hardware structure of a more specific video processing apparatus provided in an embodiment of the present specification, where the apparatus may include: a processor 601, a memory 602, an input/output interface 603, a communication interface 604, and a bus 605. Wherein the processor 601, the memory 602, the input/output interface 603 and the communication interface 604 are communicatively connected to each other within the device via a bus 605. When the clock synchronization apparatus is used to execute the method applied to the first subsystem, the processor 601 is a first processor, and the communication interface 604 is a first communication interface. When the clock synchronization apparatus is used to execute the method applied to the second subsystem, the processor 601 is a second processor, and the communication interface 604 is a second communication interface.
The processor 601 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present specification.
The Memory 602 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 602 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 602 and called to be executed by the processor 601.
The input/output interface 603 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 604 is used for connecting a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 601, the memory 602, the input/output interface 603, the communication interface 604 and the bus 605, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
As shown in fig. 7, the disclosed embodiment further provides a spreader 700 mounted on the movable platform for spreading the loaded first solid materials during the traveling of the movable platform; the sowing machine comprises: the mechanical valve 701 is arranged at a discharge port 702 of the material tank 708 for loading the first solid material and is used for controlling the opening degree of the discharge port; and a spreading control unit 703 for acquiring a pre-established control model of the first solid material, where the control model is used to characterize a correspondence between the flow rate of the first solid material and the opening degree of the discharge port 702, and when spreading the first solid material, controls the opening amount of the mechanical valve 701 according to the control model, so as to adjust the discharge port 702 to a target opening degree, thereby controlling a target flow rate at which the first solid material is spread.
In some embodiments, the spreader also includes a first motor 704 for controlling the amount of opening of the mechanical valve.
In some embodiments, the spreader further comprises a flail disc unit 705 for spreading the first solid material flowing through the discharge port in different directions.
In some embodiments, the spreader also includes a second motor 706 for controlling the rotational speed of the flail disk unit.
In some embodiments, the spreader further comprises a material detection unit 707 for detecting a remaining amount of the first solid material, wherein the movable platform flies to a designated location if the remaining amount is less than a preset value.
In some embodiments, the material detecting unit 707 includes a damping rod 7071 disposed at the discharge port; and a third motor 7072 for driving the dampening bar 7071 to rotate at a preset power, wherein the residual amount is determined based on the rotational speed of the dampening bar at the preset power.
In other embodiments, the material detecting unit 707 includes a distance sensor disposed within the material tank to detect a distance to the first solid material and determine the remaining amount based on the distance; or the vision sensor is arranged in the material box and used for acquiring the image in the material box and determining the residual quantity based on the acquired image.
In some embodiments, the spreader further includes a weighing unit disposed at the discharge port, and configured to weigh the second solid material flowing through the discharge port at a plurality of second openings, so that the spreading control unit establishes the control model according to the plurality of second openings and the weight of the second solid material flowing through the discharge port at corresponding second openings. The control unit 703 may be an integrated chip and the weighing unit may be a sensor integrated in the control unit 703.
In some embodiments, the spreader may also include an interaction component, a communication unit, and/or a storage unit. The interaction component can be a key, a touch screen and the like, and is used for performing human-computer interaction so as to receive a control instruction input by a user, such as a model updating instruction and the like. The communication unit may receive control instructions sent by other devices, for example, the update instructions and/or the control model may be sent by other devices. The storage unit may store the control model.
The method executed by the spreading control unit 703 is described in detail in the foregoing embodiment of the method for controlling spreading of solid materials, and will not be described again here.
As shown in fig. 8, an embodiment of the present disclosure further provides a movable platform, which includes a solid material spreading control device according to any embodiment of the present disclosure, or a spreader according to any embodiment of the present disclosure. The movable platform can be an unmanned aerial vehicle, an unmanned vehicle, a movable robot, and the like, and the disclosure does not limit the same. Fig. 8 illustrates a solution of the embodiment of the present disclosure by taking an unmanned aerial vehicle as an example, and those skilled in the art can understand that in practical application, the movable platform is not limited to an unmanned aerial vehicle.
In some embodiments, the movable platform further comprises a motion control unit for controlling a travel state (e.g., travel speed, travel direction, travel attitude, etc.) of the movable platform while spreading the first solid material.
Referring to fig. 8, a drone 800 may include a material tank 801 for storing solid material, the material tank being mechanically connected to a spreader 802, the outlet of the material tank being connected to the inlet of the spreader. The spreader may be mounted at the bottom of the drone 800 so as to spread the material 803 downwards during flight of the drone 800. The unmanned aerial vehicle can also include a plurality of paddles for driving the unmanned aerial vehicle to fly. Further, the drone 800 may also include a power system for powering the drone. The flight control system on the drone 800 may control the drone to work (e.g., seed, fertilize) on a designated path based on pre-stored waypoint information, as well as control the drone 800 to fly to a designated location if the work is complete or material needs to be changed. The flight control system may also receive instructions sent by a user terminal (e.g., a cell phone, a remote control, etc.) to control the state of the drone 800 based on the instructions.
The embodiment of the present disclosure further provides a system for controlling spreading of solid materials, which is used for controlling a spreading flow of a first solid material carried by a movable platform during a driving process, and the system includes: a seed spreader according to any embodiment of the present disclosure; and the user terminal is used for acquiring a control instruction input by a user, carrying the identification information of the control model in the control instruction and sending the control instruction to the scattering machine.
Fig. 9 is a schematic diagram showing interaction of parts in a solid material spreading control system according to an embodiment of the present disclosure. The user terminal 901 is used for controlling the driving state of the movable platform; and/or updating the control model. The user terminal 901 may send a control instruction to a scheduling control system of the movable platform, for planning an operation task (for example, seeding and fertilizing) of the movable platform, where the control instruction may carry position information, operation duration, operation path information, and the like of an operation area, and a motion control system (for example, a flight control system of an unmanned aerial vehicle) on the movable platform 902 may control a state of the movable platform based on the control instruction sent by the user terminal 901, and may also send a start instruction to a control unit in the spreader 903, so as to start the spreader to perform material spreading. The control unit in the spreader 903 can control a disc throwing motor, a material detection unit, a valve motor and the like in the spreader body to work so as to realize material spreading according to a set target flow. The control unit in the spreader 903 may also incorporate a load cell to weigh the material.
The embodiments of the present disclosure also provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to perform the method of any of the preceding embodiments.
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, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
From the above description of the embodiments, it is clear to those skilled in the art that the embodiments of the present disclosure can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the embodiments of the present specification may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present specification.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
Various technical features in the above embodiments may be arbitrarily combined as long as there is no conflict or contradiction in the combination between the features, but the combination is limited by the space and is not described one by one, and therefore, any combination of various technical features in the above embodiments also belongs to the scope of the present disclosure.
Claims (37)
- A solid material spreading control method is used for controlling the spreading flow of first solid materials carried by a movable platform during the running process, and comprises the following steps:acquiring a pre-established control model of a first solid material, wherein the control model is used for representing the corresponding relation between the flow of the first solid material and the opening of a discharge hole;when the first solid materials are scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control the target flow rate of the first solid materials.
- The method of claim 1, further comprising:establishing the control model based on:acquiring the weight of a second solid material flowing through the discharge hole under a plurality of second opening degrees;and establishing the control model according to the plurality of second openings and the weight of the second solid materials flowing through the discharge hole under the corresponding second openings.
- The method of claim 2, wherein establishing the control model based on the plurality of second openings and the weight of the second solid material flowing through the discharge outlet at the corresponding second openings comprises:acquiring a first change relation of the second opening degree along with time change in a first time period;acquiring a second change relation of the weight of the second solid material flowing through the discharge hole along with the change of time in the first time period;and establishing the control model based on the first variation relation and the second variation relation.
- The method of claim 3, wherein the first time period comprises a plurality of sub-time periods, the second opening degree being constant for each sub-time period;the obtaining a second variation relationship of the weight of the second solid material flowing through the discharge port with time within the first time period includes:respectively acquiring the ratio of the weight of the second solid material flowing through the discharge port to the sub-time periods in each sub-time period;and determining the second variation relation of the corresponding time period based on the ratio of each sub-time period.
- The method of claim 3, wherein the second opening degree is continuously varied over time during a first time period;the obtaining a second variation relationship of the weight of the second solid material flowing through the discharge port with time within the first time period includes:determining the weight of the second solid material flowing through the discharge port at a plurality of time points in the first time period;determining the second variation relationship based on the weight of the second solid material flowing through the discharge port at the plurality of time points.
- The method of claim 2, wherein the discharge port is provided with a weighing unit for weighing the second solid material flowing through the discharge port at a plurality of second opening degrees.
- The method of claim 1, further comprising:and controlling a weighing unit to weigh the first solid materials flowing through the discharge port under a plurality of first openings, and updating the control model according to the plurality of first openings and the weight of the first solid materials flowing through the discharge port under the corresponding first openings.
- The method of claim 1, further comprising:acquiring the moving speed of the movable platform;and determining a target flow rate corresponding to the moving speed.
- The method of claim 1, further comprising:detecting the residual amount of the first solid material;and controlling the movable platform to fly to a specified place under the condition that the detected residual amount is less than a preset value.
- The method of claim 1, wherein said obtaining a control model of a pre-established first solid material comprises:receiving a control instruction input by a user through an interaction unit, wherein the control instruction carries identification information of the control model;and acquiring the control model based on the identification information.
- The method of claim 1, wherein the discharge port is provided with a flail tray unit for spreading the first solid material flowing through the discharge port in different directions.
- The method according to claim 1, wherein the discharge port is provided with a valve, and an opening degree of the discharge port is controlled based on an opening amount of the valve.
- A solid material spreading control device, which is used for controlling the spreading flow of a first solid material carried by a movable platform during the running process, and comprises a processor and a memory, wherein the memory is used for storing instructions, and the processor calls the instructions stored by the memory to execute the following operations:acquiring a pre-established control model of a first solid material, wherein the control model is used for representing the corresponding relation between the flow of the first solid material and the opening of a discharge hole;when the first solid materials are scattered, the discharge port is adjusted to a target opening degree according to the control model so as to control the target flow of the first solid materials.
- The apparatus of claim 13, wherein the processor is further configured to:and acquiring the weight of the second solid material flowing through the discharge port under the second openings, and establishing the control model according to the second openings and the weight of the second solid material flowing through the discharge port under the corresponding second openings.
- The apparatus of claim 14, wherein the processor is configured to:acquiring a first change relation of the second opening degree along with time change in a first time period;acquiring a second change relation of the weight of the second solid material flowing through the discharge hole along with the change of time in the first time period;and establishing the control model based on the first variation relation and the second variation relation.
- The apparatus of claim 15, wherein the first time period comprises a plurality of sub-time periods, and the second opening degree is kept constant in each sub-time period; the processor is configured to:respectively acquiring the ratio of the weight of the second solid material flowing through the discharge port to the sub-time periods in each sub-time period;and determining the second variation relation of the corresponding time period based on the ratio of each sub-time period.
- The apparatus of claim 15, wherein the second opening degree is continuously varied with time over a first period of time; the processor is configured to:determining the weight of the second solid material flowing through the discharge port at a plurality of time points in the first time period;determining the second variation relationship based on the weight of the second solid material flowing through the discharge port at the plurality of time points.
- The apparatus of claim 14, wherein the discharge port is provided with a weighing unit for weighing the second solid material flowing through the discharge port at a plurality of second openings.
- The apparatus of claim 13, wherein the processor is further configured to:and controlling a weighing unit to weigh the first solid materials flowing through the discharge port under a plurality of first opening degrees, and updating the control model according to the plurality of first opening degrees and the weight of the first solid materials flowing through the discharge port under the corresponding first opening degrees.
- The apparatus of claim 13, wherein the processor is further configured to:acquiring the moving speed of the movable platform;and determining a target flow rate corresponding to the moving speed.
- The apparatus of claim 13, wherein the processor is further configured to:detecting the residual amount of the first solid material;and controlling the movable platform to fly to a specified place under the condition that the detected residual amount is less than a preset value.
- The apparatus of claim 13, wherein the processor is configured to:receiving a control instruction input by a user through an interaction unit, wherein the control instruction carries identification information of the control model;and acquiring the control model based on the identification information.
- The apparatus of claim 13, wherein the discharge port is provided with a throwing disk unit for scattering the first solid material flowing through the discharge port in different directions.
- The apparatus of claim 13, wherein the discharge port is provided with a valve, and an opening degree of the discharge port is controlled based on an opening amount of the valve.
- A sowing machine is characterized by being arranged on a movable platform and used for sowing loaded first solid materials during the running process of the movable platform; the sowing machine comprises:the mechanical valve is arranged at a discharge port of the material box for loading the first solid material and is used for controlling the opening degree of the discharge port; andthe control module is used for representing the corresponding relation between the flow of the first solid material and the opening degree of the discharge port, and when the first solid material is spread, the opening amount of the mechanical valve is controlled according to the control module so as to adjust the discharge port to a target opening degree, so that the control is right the target flow of spreading the first solid material.
- The spreader of claim 25, further comprising:and the first motor is used for controlling the opening amount of the mechanical valve.
- The spreader of claim 25, further comprising:and the disc throwing unit is used for scattering the first solid materials flowing through the discharge hole to different directions.
- A spreader as claimed in claim 27, further comprising:and the second motor is used for controlling the rotating speed of the disc throwing unit.
- The spreader of claim 25, further comprising:the material detection unit is used for detecting the residual amount of the first solid material;wherein the movable platform flies to a designated place when the residual amount is less than a preset value.
- A spreader as claimed in claim 29, wherein the material detection unit comprises:the damping rod is arranged at the discharge hole; andthe third motor is used for driving the damping rod to rotate under preset power;wherein the residual amount is determined based on a rotational speed of the dampening bar at the preset power.
- A spreader as claimed in claim 29, wherein the material detection unit comprises:the distance sensor is arranged in the material box and used for detecting the distance between the first solid material and the distance sensor and determining the residual quantity based on the distance; orAnd the visual sensor is arranged in the material box and used for acquiring the image in the material box and determining the residual quantity based on the acquired image.
- The spreader of claim 25, further comprising:and the weighing unit is arranged at the discharge port and used for weighing the second solid materials flowing through the discharge port under the second opening degrees so as to enable the spreading control unit to establish the control model according to the second opening degrees and the weight of the second solid materials flowing through the discharge port under the corresponding second opening degrees.
- A movable platform, comprising:a solids spreading control apparatus as claimed in any one of claims 13 to 24 or a spreader as claimed in any one of claims 25 to 32.
- The movable platform of claim 33, further comprising:and the motion control unit is used for controlling the running state of the movable platform when the first solid materials are spread.
- A system for controlling the spread of solid material for controlling the flow of a first solid material carried by a movable platform during travel, the system comprising:a spreader as claimed in any one of claims 25 to 32; andand the user terminal is used for acquiring a control instruction input by a user, carrying the identification information of the control model in the control instruction and sending the control instruction to the scattering machine.
- The system of claim 35, wherein the user terminal is further configured to:controlling a driving state of the movable platform; and/orAnd updating the control model.
- A computer-readable storage medium comprising instructions that, when run on a computer, cause the computer to perform the video processing method of any of claims 1 to 12.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2020/127524 WO2022095030A1 (en) | 2020-11-09 | 2020-11-09 | Sowing control method and device for solid materials, and sowing machine and movable platform |
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| CN202080071602.XA Pending CN114630575A (en) | 2020-11-09 | 2020-11-09 | Solid material scattering control method and device, scattering machine and movable platform |
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| CN117115687A (en) * | 2023-08-02 | 2023-11-24 | 江苏商贸职业学院 | Unmanned aerial vehicle accurate fertilization method and system based on artificial intelligence technology |
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