CN114641745A - Operation control method and device for agricultural unmanned aerial vehicle and agricultural unmanned aerial vehicle - Google Patents
Operation control method and device for agricultural unmanned aerial vehicle and agricultural unmanned aerial vehicle Download PDFInfo
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Abstract
A method of controlling the operation of an agricultural drone (101, 700), an apparatus for controlling the operation of an agricultural drone (101, 700), an electronic device, a readable storage medium and a computer program product. The method comprises the following steps: acquiring current position information (301) of an agricultural unmanned aerial vehicle (101, 700) (S201); determining a work coverage area (302) of the agricultural unmanned aerial vehicle (101, 700) according to the current position information (301) of the agricultural unmanned aerial vehicle (101, 700) (S202); determining a plurality of target sub-areas from a work coverage area of an agricultural drone (101, 700), wherein each target sub-area has a corresponding preset material put-in amount (S203); and determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle (101, 700) according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas (S204).
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle technology, and in particular, to an operation control method for an agricultural unmanned aerial vehicle, an operation control device for an agricultural unmanned aerial vehicle, an electronic device, a readable storage medium, and a computer program product.
Background
With the rapid development of the automatic control technology, unmanned technologies such as unmanned aerial vehicles and the like are developed vigorously. At present, unmanned aerial vehicles can be applied to each trade that has the demand. For example, unmanned aerial vehicles are used in fields such as farming work, logistics distribution, and geological exploration.
Agricultural unmanned aerial vehicle can realize modernized agricultural operation as one of them that unmanned aerial vehicle used, uses agricultural unmanned aerial vehicle to put in the operation to additives such as insecticide, germicide, herbicide and ripening defoliant, sugar-increasing agent, fertilizer, also can sow solid seed, can also carry out work such as survey and drawing to the farmland. The application of the agricultural unmanned aerial vehicle has very important effects on preventing and treating plant diseases and insect pests, improving crop yield and realizing agricultural automation.
However, due to the limitations of the current related technologies, the actual operation effect of the agricultural unmanned aerial vehicle is not good, and needs to be further improved.
Disclosure of Invention
The utility model provides an operation control method of agricultural unmanned aerial vehicle, including: acquiring current position information of the agricultural unmanned aerial vehicle; determining the operation coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle; determining a plurality of target sub-areas from the operation coverage area of the agricultural unmanned aerial vehicle, wherein each target sub-area has a corresponding preset material putting amount; and determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
The present disclosure also provides an agricultural unmanned aerial vehicle's operation controlling means, include: the first acquisition module is used for acquiring the current position information of the agricultural unmanned aerial vehicle; the first determining module is used for determining the operation coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle; the second determining module is used for determining a plurality of target sub-areas from the operation coverage area of the agricultural unmanned aerial vehicle, wherein each target sub-area has a corresponding preset material putting amount; and the third determining module is used for determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
The present disclosure also provides an agricultural unmanned aerial vehicle, include: the power device is used for providing flight power for the agricultural unmanned aerial vehicle; the spraying system is used for executing the operation of the agricultural plant protection unmanned aerial vehicle; a flight controller electrically connected to the power device and the spraying system for controlling the power device and the spraying system; wherein the flight controller is further configured to perform the method as described above.
The present disclosure also provides an electronic device, including: a processor; a memory for storing one or more programs, wherein the one or more programs, when executed by the processor, cause the processor to perform the method as described above.
The present disclosure also provides a readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method as described above.
The present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, causes the processor to carry out the method as described above.
Through the embodiment of the disclosure, according to the preset material input amount corresponding to each target subregion in the multiple target subregions, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined, the accuracy of the usage amount in the grid of the operation region on the prescription chart is ensured, the problem of variable operation missing spraying or over spraying caused by the large difference between the usage amounts of the current grid and the adjacent grid is avoided, the precision of the variable operation is effectively improved, and the operation effect of the variable operation is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 schematically shows an application scenario in which the operation control method and apparatus of the agricultural drone can be applied according to an embodiment of the present disclosure.
Fig. 2 schematically shows a flowchart of a method of controlling the operation of an agricultural drone according to an embodiment of the present disclosure.
Fig. 3 schematically shows a schematic view of a work coverage area of an agricultural drone, according to an embodiment of the present disclosure.
Fig. 4 schematically shows a flowchart for determining an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each of the plurality of target sub-areas according to the embodiment of the present disclosure.
Fig. 5 schematically shows a flowchart for determining an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each of the plurality of target sub-areas according to another embodiment of the present disclosure.
Fig. 6 schematically shows a block diagram of a work control device of an agricultural drone according to an embodiment of the present disclosure.
Fig. 7 schematically illustrates a block diagram of an agricultural drone, according to an embodiment of the present disclosure.
Detailed Description
The technical solution of the present disclosure will be clearly and completely described below with reference to the embodiments and the drawings in the embodiments. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
Some block diagrams and/or flow diagrams are shown in the figures. It will be understood that some blocks of the block diagrams and/or flowchart illustrations, or combinations of blocks in the block diagrams and/or flowchart illustrations, 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, or other programmable data processing apparatus, such that the instructions, which execute via the processor, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks. The techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). In addition, the techniques of this disclosure may take the form of a computer program product on a computer-readable storage medium having instructions stored thereon for use by or in connection with an instruction execution system.
The prescription chart of the variable operation of the agricultural unmanned aerial vehicle is composed of grids with certain areas, and the color of each grid represents the unit area consumption required by the grid or the total consumption required by the grid.
In the variable operation process, the agricultural unmanned aerial vehicle determines that the position at the current moment is in a certain grid, calculates the flow according to the corresponding usage of the current grid, and determines the current operation instruction of the agricultural unmanned aerial vehicle.
However, in the process of implementing the present disclosure, it is found that the position of the agricultural unmanned aerial vehicle in the grid may be located in the center of the grid, and may also be located at the edge of the grid, and the area covered by the spraying and spreading of the agricultural unmanned aerial vehicle may include a plurality of adjacent grids, so that the plurality of grids adjacent to the grid where the agricultural unmanned aerial vehicle is currently located may also be sprayed and broadcast, resulting in that the flow calculated according to the current position of the agricultural unmanned aerial vehicle is not the actual demand in the coverage range of the spraying and broadcast of the agricultural unmanned aerial vehicle, and further resulting in inaccurate usage of variable operation of the agricultural unmanned aerial vehicle, which is a long-standing problem in the field of variable operation.
Therefore, the real-time usage value of the current variable operation corresponds to a grid on the prescription chart according to the current position of the agricultural unmanned aerial vehicle, and the usage represented by the grid is the usage of the agricultural unmanned aerial vehicle at the current moment. However, in most cases, the division of the grids on the square chart is not matched with the flight path of the agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle may be located at the edge of a certain grid at any moment, if the division of the grid area is small, and the difference between the adjacent grids (in the operation range) and the required mu amount in the current grid is large, the agricultural unmanned aerial vehicle can perform variable operation by using the mu amount in the current grid as a reference, the problem of missed spray/over spray can occur in the surrounding grid areas, and more accurate variable operation cannot be realized.
The embodiment of the disclosure provides an operation control method of an agricultural unmanned aerial vehicle, which comprises the following steps: acquiring current position information of the agricultural unmanned aerial vehicle; determining the operation coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle; determining a plurality of target sub-areas from the operation coverage area of the agricultural unmanned aerial vehicle, wherein each target sub-area has a corresponding preset material putting amount; and determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
The embodiment of this disclosure can calculate actual material input amount comparatively accurately to control agricultural unmanned aerial vehicle and carry out the variable operation. The following describes an application scenario of the operation control method and device for the agricultural unmanned aerial vehicle.
Fig. 1 schematically shows an application scenario in which the operation control method and apparatus of an agricultural drone may be applied according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, an agricultural drone 101 may perform variable operations on a piece of woodland or arable land. The prescription of the woodland or arable land can be obtained in advance. Agricultural unmanned aerial vehicle 101 has characteristics such as mobility is strong, the operating efficiency is high, with low costs, environmental adaptation is strong, can all use in fields such as crops application of pesticides, fertilization, pollination and farmland monitoring.
According to an embodiment of the present disclosure, the agricultural drone 101 may perform various types of variable jobs. As shown in fig. 1, an agricultural drone 101 may spray a liquid 102 onto a woodland or field, or broadcast solids and powders, etc. Variable operations according to embodiments of the present disclosure include, but are not limited to, spraying of insecticides, fungicides, herbicides, and ripening defoliants, sugar enhancers, fertilizers, and the like, as well as sowing of solid seeds, powder products.
According to the embodiment of the present disclosure, the agricultural drone 101 may obtain current location information of the agricultural drone 101; determining the operation coverage area of the agricultural unmanned aerial vehicle 101 according to the current position information of the agricultural unmanned aerial vehicle 101; determining a plurality of target sub-areas from a work coverage area of the agricultural drone 101; and determining the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle 101 according to the preset material input amount corresponding to each target subarea in the plurality of target subareas.
According to the embodiment of the disclosure, the agricultural unmanned aerial vehicle 101 capable of supporting variable operation can acquire the usage information of a plurality of target sub-areas in real time through a prescription chart, further calculate the current spraying/sowing flow according to the usage information of the plurality of target sub-areas, and issue an instruction to the executing mechanism corresponding to the agricultural unmanned aerial vehicle 101 to complete plant protection operation. According to an embodiment of the present disclosure, the target sub-area may be one or more grids on a histogram.
According to the embodiment of the disclosure, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount corresponding to each target sub-area in the multiple target sub-areas, so that the accuracy of the usage amount in the grid of the operation area on the prescription chart is ensured, the problem of variable operation missing spray or over spray caused by the large difference between the usage amounts of the current grid and the adjacent grid is avoided, the precision of variable operation is effectively improved, and the operation effect of the variable operation is ensured.
Fig. 2 schematically shows a flowchart of a method of controlling the operation of an agricultural drone according to an embodiment of the present disclosure.
It should be noted that, unless explicitly stated that there is an execution sequence between different operations or there is an execution sequence between different operations in technical implementation, the execution sequence between multiple operations may not be sequential, or multiple operations may be executed simultaneously in the flowchart in this disclosure.
As shown in fig. 2, the method for controlling the operation of the agricultural drone includes operations S201 to S204.
In operation S201, current location information of the agricultural drone is acquired.
According to the embodiment of the present disclosure, for example, the current position information of the agricultural drone can be acquired by using a positioning device on the agricultural drone. The positioning device includes, but is not limited to, a GPS positioning device, an ultrasonic sensor, and the like.
In operation S202, a work coverage area of the agricultural drone is determined according to the current location information of the agricultural drone.
According to the embodiment of the disclosure, the current position information of the agricultural unmanned aerial vehicle can be used as a reference position, and the area which can be covered by the spraying system of the agricultural unmanned aerial vehicle is used as the operation coverage area of the agricultural unmanned aerial vehicle. According to this disclosed embodiment, agricultural unmanned aerial vehicle's sprinkling system can set up in positions such as wing or fuselage bottom.
According to the embodiment of the disclosure, the current position information of the agricultural unmanned aerial vehicle can be used as a reference position, and the operation coverage area of the agricultural unmanned aerial vehicle can be determined according to the width of the spraying system.
According to the embodiments of the present disclosure, the shape of the work coverage area is not limited, and may be, for example, a rectangle, a circle, or the like.
In operation S203, a plurality of target sub-areas are determined from the work coverage area of the agricultural drone, wherein each target sub-area has a corresponding preset material put-in amount.
According to an embodiment of the disclosure, the operation coverage area may include a plurality of sub-areas, each sub-area has a corresponding grid on the prescription chart, and the preset material input amount corresponding to each sub-area is the same as or has a mapping relationship with the preset material input amount of the corresponding grid on the prescription chart.
According to the embodiment of the disclosure, all sub-areas in the work coverage area may be used as a plurality of target sub-areas, and a part of sub-areas in the work coverage area may also be used as a plurality of target sub-areas.
According to an embodiment of the present disclosure, the number of target sub-areas is also preset, for example, may be 5, 7, 10, and so on.
According to the embodiment of the disclosure, the preset material putting amount of each target subregion is related to the area of the target subregion, and the larger the area of the target subregion is, the larger the preset material putting amount can be.
In operation S204, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount corresponding to each target sub-area in the plurality of target sub-areas.
According to the embodiment of the disclosure, for example, the preset material input amount corresponding to each target sub-area can be subjected to weighted summation, so that the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined.
According to this disclosed embodiment, after confirming with the current positional information assorted actual material input volume of agricultural unmanned aerial vehicle, can put in the volume according to actual material and control agricultural unmanned aerial vehicle operation. For example, agricultural unmanned aerial vehicle can control sprinkler system and put in the material of actual material input volume according to certain flow.
Fig. 3 schematically shows a schematic view of a work coverage area of an agricultural drone, according to an embodiment of the present disclosure.
As shown in fig. 3, the agricultural drone may fly along a flight path as shown in fig. 3, with the grid in fig. 3 corresponding to the grid in the prescription chart of the agricultural drone operation at a certain scale. According to the embodiment of the disclosure, the agricultural unmanned aerial vehicle is currently located at a position 301, the current position 301 of the agricultural unmanned aerial vehicle is used as a reference position, and the operation coverage area 302 of the agricultural unmanned aerial vehicle is determined according to the width of the spraying width of the agricultural unmanned aerial vehicle. A plurality of sub-areas may be included in the work coverage area 302. The work coverage area 302 may be, for example, a rectangular area, or a circular area, or the like.
According to an embodiment of the present disclosure, determining a plurality of target sub-areas from a work coverage area of an agricultural drone includes: and selecting a target subregion which is separated from the center by one or more preset distances in the operation coverage area of the agricultural unmanned aerial vehicle by taking the current position of the agricultural unmanned aerial vehicle as the center.
According to the embodiment of the disclosure, as shown in fig. 3, with the current position 301 of the agricultural unmanned aerial vehicle as a center, an area where a target point 303 spaced from the center by one or more preset distances is located is a target sub-area, and the area where the target point 303 is located may be an area where a grid in a square chart is located.
According to the embodiment of the present disclosure, the preset distance can be determined according to the spraying amplitude of the agricultural unmanned aerial vehicle. For example, one third of the swaths may be used as the preset distance, or one fourth of the swaths may be used as the preset distance, and so on.
According to the embodiment of the disclosure, the preset distance may not be determined according to the spray width, for example, the preset distance may be set according to experience, and the preset distance may be set according to the length of the grid. Through the embodiment of the disclosure, the preset distance is determined based on the length of the spray amplitude or the grid of the agricultural unmanned aerial vehicle, the accuracy of the usage amount in the grid of the operation area on the prescription map can be guaranteed, and the precision of variable operation is effectively improved.
The method shown in fig. 2 is further described with reference to fig. 4-5 in conjunction with specific embodiments.
Fig. 4 schematically shows a flowchart for determining an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each of the plurality of target sub-areas according to the embodiment of the present disclosure.
As shown in fig. 4, determining the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each target sub-area in the plurality of target sub-areas includes operations S401 to S402.
In operation S401, a weight of each target sub-region is determined.
According to an embodiment of the present disclosure, the weight of each target subregion may be the same or may be different. The manner of determining the weight of each target sub-region is not limited.
According to the embodiment of the disclosure, for example, the distance between each target sub-area and the current position of the agricultural unmanned aerial vehicle can be determined first, and the respective corresponding calculated distance of each target sub-area is obtained; and determining the weight of each target sub-region according to the respective corresponding calculated distance of each target sub-region.
According to the embodiment of the disclosure, the weight of each target sub-region can be determined according to the principle that the smaller the calculated distance is, the higher the weight is, and the larger the calculated distance is, the lower the weight is.
In operation S402, an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount and weight corresponding to each target sub-region.
According to the embodiment of the disclosure, for example, the preset material input amount corresponding to each target sub-area and the weight corresponding to each target sub-area can be subjected to weighted summation to obtain the actual material input amount.
According to the embodiment of the disclosure, based on the problems that the grid division of the prescription chart is fine and the consumption of variable operation is not accurate, the embodiment of the disclosure provides a calculation method of the accurate consumption, the consumption in the current position and the operation range area of the airplane is obtained in real time, after the respective corresponding consumption of each target sub-area is weighted and averaged, the optimal consumption is used as the optimal consumption to replace the consumption of a single point, the value can represent the actual required consumption at the current position, and the variable operation is more accurate.
According to the embodiment of the present disclosure, determining the weight of each target sub-region according to the respective calculated distance corresponding to each target sub-region includes: sorting the respective calculated distances of each target sub-region according to the distance to obtain a sorting result; and determining the weight of each target sub-region according to the sorting result.
According to the embodiment of the disclosure, the respective calculated distances of each target sub-region can be sorted from small to large, or sorted from large to small, so as to obtain a sorting result; and determining the weight of each target sub-region according to the sorting result.
According to an embodiment of the present disclosure, determining the weight of each target sub-region according to the ranking result includes: and under the condition that the weight is configured for each target sub-region according to a sequencing result obtained after sequencing from small to large, configuring the weight of the target sub-region sequenced at the ith bit to be larger than the weight of the target sub-region sequenced at the (i + 1) th bit.
Through the embodiment of the disclosure, the principle that the weight is higher when the calculated distance is smaller and lower when the calculated distance is larger is realized, so that the calculated actual material putting amount can represent the actual mu usage amount at the current position, and the variable operation is more accurate.
According to the embodiment of the disclosure, the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle can be determined by using an averaging method and according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
Fig. 5 schematically shows a flowchart for determining an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each of the plurality of target sub-areas according to another embodiment of the present disclosure.
As shown in fig. 5, determining the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount corresponding to each target sub-area in the plurality of target sub-areas includes operations S501 to S503.
In operation S501, the preset material input amount with the largest preset material input amount and/or the smallest preset material input amount in the preset material input amounts corresponding to each target sub-region is filtered.
According to the embodiment of the disclosure, when the number of the target sub-regions is large, for example, 5 target sub-regions and 10 target sub-regions are reached, the preset material input amount with the maximum preset material input amount and/or the minimum preset material input amount can be removed, so that the calculated actual material input amount is more accurate.
In operation S502, an average value of the preset material input amounts corresponding to the remaining target sub-areas is calculated.
In operation S503, an average value of preset material input amounts corresponding to the remaining target sub-areas is determined as an actual material input amount.
According to the embodiment of the disclosure, when calculating the actual material input amount, except for the scheme of removing the preset material input amount with the maximum preset material input amount and/or the minimum preset material input amount, the average value of the preset material input amounts can be calculated directly according to the preset material input amount corresponding to each target sub-area; and determining the average value as the actual material feeding amount.
According to the embodiment of the disclosure, various methods for calculating the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle are provided.
According to the embodiment of the disclosure, after the actual material input amount of the agricultural unmanned aerial vehicle is determined, the current operation parameters of the agricultural unmanned aerial vehicle can be obtained, and the current operation flow of the agricultural unmanned aerial vehicle is determined according to the actual material input amount and the current operation parameters of the agricultural unmanned aerial vehicle. Wherein the operation parameters include one or more of the following: operation flying speed, operation duration, operation interval, agricultural unmanned aerial vehicle's spray width, agricultural unmanned aerial vehicle's flying height, shower nozzle velocity of flow.
According to the embodiment of the disclosure, the current operation parameters of the agricultural drone can be obtained by using a sensor or the like, for example, but not limited to, a position sensor, such as at least one of a gyroscope, a positioning antenna, an electronic compass, and an inertial measurement unit. For example, the width of the jet width of the agricultural drone may be acquired by using an ultrasonic sensor or a visual sensor (monocular sensor or binocular sensor), and other operation information may be acquired by using an environment sensor or a barometer. Or, the operation information such as the flow velocity or the flow rate of the nozzle head is acquired by a device such as a flow valve.
According to this disclosed embodiment, according to actual material input volume and the current operation parameter of agricultural unmanned aerial vehicle, confirm that the current operation flow of agricultural unmanned aerial vehicle can refer to above-mentioned one or more operation parameter. For example, the current operation flow of the agricultural unmanned aerial vehicle is determined according to the actual material putting amount and the current operation flying speed of the agricultural unmanned aerial vehicle; or determining the current operation flow of the agricultural unmanned aerial vehicle according to the actual material throwing amount, the current operation flying speed of the agricultural unmanned aerial vehicle and the flying height of the agricultural unmanned aerial vehicle; or determining the current operation flow of the agricultural unmanned aerial vehicle according to the actual material throwing amount, the operation flying speed and the operation distance.
According to the embodiment of the disclosure, the actual material throwing amount, the operation flying speed and the operation distance can be multiplied to obtain a product result; and determining the current operation flow of the agricultural unmanned aerial vehicle according to the product result.
According to an embodiment of the present disclosure, specifically, for example, as shown in fig. 3, the current position 301 of the agricultural unmanned aerial vehicle may be obtained in real time, and the mu usage amount corresponding to the target point 303 at each interval 1/3 spray width perpendicular to the working route of the agricultural unmanned aerial vehicle may be obtained, that is, the mu usage amount corresponding to 7 points in the current working range of the agricultural unmanned aerial vehicle may be obtained simultaneously, and then the mu usage amount corresponding to the 7 points is weighted and averaged. The weight distribution can be based on the principle that the inner side weight is higher and the outer side weight is lower, the optimal mu usage in the current operation area is obtained, the operation flow of the agricultural unmanned aerial vehicle is obtained through calculation according to the optimal mu usage, and the formula for calculating the operation flow can refer to the following formula (one).
Wherein Mu is the current optimal Mu usage (unit can be kg/Mu, or L/Mu), V is the current flight speed (unit can be m/s), L is the operation distance (i.e. the distance between two routes, unit can be m), and flow is the operation flow.
According to the embodiment of the disclosure, the accurate mu dosage calculation of variable operation can be realized, the optimal mu dosage value of the whole operation area is used for replacing the single-point mu dosage of the current position of the agricultural unmanned aerial vehicle, and the accuracy of the variable operation is ensured.
Fig. 6 schematically shows a block diagram of a work control device of an agricultural drone according to an embodiment of the present disclosure.
As shown in fig. 6, the work control device 600 of the agricultural drone includes: a first obtaining module 610, a first determining module 620, a second determining module 630, and a third determining module 640.
The first obtaining module 610 is used for obtaining the current position information of the agricultural unmanned aerial vehicle.
The first determining module 620 is configured to determine a work coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle.
A second determining module 630, configured to determine a plurality of target sub-areas from the operation coverage area of the agricultural drone, where each target sub-area has a corresponding preset material put amount.
And a third determining module 640, configured to determine, according to the preset material input amount corresponding to each target sub-area in the multiple target sub-areas, an actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle.
According to the embodiment of the disclosure, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount corresponding to each target sub-area in the multiple target sub-areas, so that the accuracy of the usage amount in the grid of the operation area on the prescription chart is ensured, the problem of variable operation missing spray or over spray caused by the large difference between the usage amounts of the current grid and the adjacent grid is avoided, the precision of variable operation is effectively improved, and the operation effect of the variable operation is ensured.
According to an embodiment of the present disclosure, wherein the third determining module includes: a first determination unit and a second determination unit.
A first determining unit for determining a weight of each target sub-region.
And the second determining unit is used for determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount and weight corresponding to each target subregion.
According to an embodiment of the present disclosure, the second determination unit is configured to: and carrying out weighted summation on the preset material input amount corresponding to each target subregion and the weight corresponding to each target subregion to obtain the actual material input amount.
According to an embodiment of the present disclosure, the first determination unit includes: a first determining subunit and a second determining subunit.
The first determining subunit is used for determining the distance between each target subregion and the current position of the agricultural unmanned aerial vehicle, and obtaining the respective corresponding calculated distance of each target subregion.
And the second determining subunit is used for determining the weight of each target sub-region according to the respective corresponding calculated distance of each target sub-region.
According to an embodiment of the present disclosure, the second determining subunit includes: a sorting sub-module and a determining sub-module.
And the sorting submodule is used for sorting the respective calculated distance of each target sub-area according to the distance to obtain a sorting result.
And the determining submodule is used for determining the weight of each target sub-region according to the sequencing result.
According to an embodiment of the disclosure, the determining submodule is configured to: and under the condition that the weight is configured for each target sub-region according to a sequencing result obtained after sequencing from small to large, configuring the weight of the target sub-region sequenced at the ith bit to be larger than the weight of the target sub-region sequenced at the (i + 1) th bit.
According to an embodiment of the present disclosure, the third determining module includes: the device comprises a filtering unit, a first calculating unit and a third determining unit.
And the filtering unit is used for filtering the preset material input amount with the maximum preset material input amount and/or the minimum preset material input amount in the preset material input amount corresponding to each target subregion.
And the first calculating unit is used for calculating the average value of the preset material input amount corresponding to each of the remaining target sub-areas.
And the third determining unit is used for determining the average value as the actual material putting amount.
According to an embodiment of the present disclosure, the third determining module includes: a second calculation unit and a fourth determination unit.
And the second calculating unit is used for calculating the average value of the preset material input amount according to the preset material input amount corresponding to each target subregion.
And the fourth determining unit is used for determining the average value as the actual material putting amount.
According to an embodiment of the disclosure, the second determining module is to: and selecting a target subregion which is separated from the center by one or more preset distances in the operation coverage area of the agricultural unmanned aerial vehicle by taking the current position of the agricultural unmanned aerial vehicle as the center.
According to this disclosed embodiment, agricultural unmanned aerial vehicle's operation controlling means 600 still includes: and the fourth determination module is used for determining the preset distance according to the spraying amplitude of the agricultural unmanned aerial vehicle.
According to the embodiment of this disclosure, agricultural unmanned aerial vehicle's operation controlling means 600 still includes: the device comprises a second obtaining module and a fifth determining module.
The second acquisition module is used for acquiring the current operation parameters of the agricultural unmanned aerial vehicle;
and the fifth determining module is used for determining the current operation flow of the agricultural unmanned aerial vehicle according to the actual material putting quantity and the current operation parameters of the agricultural unmanned aerial vehicle.
According to an embodiment of the present disclosure, the operational parameters include one or more of: operation flying speed, operation duration, operation interval, agricultural unmanned aerial vehicle's spray width, agricultural unmanned aerial vehicle's flying height, shower nozzle velocity of flow.
According to an embodiment of the present disclosure, the fifth determining module includes: a third calculation unit and a fifth determination unit.
The third calculation unit is used for multiplying the actual material input amount, the operation flying speed and the operation interval to obtain a product result;
and the fifth determining unit is used for determining the current working flow of the agricultural unmanned aerial vehicle according to the multiplication result.
According to the embodiment of this disclosure, agricultural unmanned aerial vehicle's operation controlling means 600 still includes: and the control module is used for controlling the operation of the agricultural unmanned aerial vehicle according to the actual material putting amount.
Fig. 7 schematically illustrates a block diagram of an agricultural drone, according to an embodiment of the present disclosure.
As shown in fig. 7, the agricultural drone 700 includes: a power plant 710, a sprinkler system 720, and a flight controller 730.
And the power device 710 is used for providing flight power for the agricultural unmanned aerial vehicle. The power plant may comprise a propulsion unit for generating lift to propel the agricultural drone so that the agricultural drone can fly in three-dimensional space.
And the spraying system 720 is used for executing the operation of the agricultural unmanned aerial vehicle. The spraying system may include a container for holding the pesticide, a nozzle for spraying, a mating connector, and the like.
A flight controller 730 electrically connected to the power device and the spraying system for controlling the power device and the spraying system; the flight controller is further used for executing the operation control method of the agricultural unmanned aerial vehicle.
According to embodiments of the present disclosure, the agricultural drone 700 may have one or more arms or branches that extend. The arms may extend laterally or radially from the body. The arm may be movable relative to the body, or may be fixed relative to the body. The arms may support one or more propulsion units. For example, each arm may support one, two or more propulsion units.
According to the embodiment of the disclosure, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount corresponding to each target sub-area in the multiple target sub-areas, so that the accuracy of the usage amount in the grid of the operation area on the prescription chart is ensured, the problem of variable operation missing spray or over spray caused by the large difference between the usage amounts of the current grid and the adjacent grid is avoided, the precision of variable operation is effectively improved, and the operation effect of the variable operation is ensured.
According to an embodiment of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing one or more programs, wherein the one or more programs, when executed by the processor, cause the processor to perform a method of job control of an agricultural drone.
In particular, the processor may comprise, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. The processor may also include on-board memory for caching purposes. The processor may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure.
According to an embodiment of the present disclosure, there is provided a readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform a method of controlling a work of an agricultural drone.
The readable storage medium may be included in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The readable storage medium carries one or more programs which, when executed, implement a method according to an embodiment of the disclosure.
According to an embodiment of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, causes the processor to perform a method of controlling a task of an agricultural drone.
According to the embodiment of the disclosure, the actual material input amount matched with the current position information of the agricultural unmanned aerial vehicle is determined according to the preset material input amount corresponding to each target sub-area in the multiple target sub-areas, so that the accuracy of the usage amount in the grid of the operation area on the prescription chart is ensured, the problem of variable operation missing spray or over spray caused by the large difference between the usage amounts of the current grid and the adjacent grid is avoided, the precision of variable operation is effectively improved, and the operation effect of the variable operation is ensured.
According to embodiments of the present disclosure, the readable storage medium may be a non-volatile readable storage medium, which may include, for example but not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; features in embodiments of the disclosure may be combined arbitrarily, without conflict; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (32)
1. An operation control method of an agricultural unmanned aerial vehicle comprises the following steps:
acquiring current position information of the agricultural unmanned aerial vehicle;
determining the operation coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle;
determining a plurality of target sub-areas from an operation coverage area of the agricultural unmanned aerial vehicle, wherein each target sub-area has a corresponding preset material input amount; and
and determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
2. The method of claim 1, wherein determining an actual material placement amount that matches the current location information of the agricultural drone, based on a respective preset material placement amount for each of the plurality of target sub-areas, comprises:
determining a weight for each of the target sub-regions; and
and determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount and the weight corresponding to each target subregion.
3. The method of claim 2, wherein determining the actual material input amount matching the current position information of the agricultural unmanned aerial vehicle according to the preset material input amount and the weight corresponding to each target sub-region comprises:
and carrying out weighted summation on the preset material input amount corresponding to each target subregion and the weight corresponding to each target subregion to obtain the actual material input amount.
4. The method of claim 2, wherein determining the weight for each of the target sub-regions comprises:
determining the distance between each target subregion and the current position of the agricultural unmanned aerial vehicle to obtain a respective corresponding calculated distance of each target subregion; and
and determining the weight of each target sub-region according to the respective corresponding calculated distance of each target sub-region.
5. The method of claim 4, wherein determining the weight of each of the target sub-regions based on the respective calculated distance for each of the target sub-regions comprises:
sorting the respective calculated distances of each target subregion according to the distance to obtain a sorting result; and
and determining the weight of each target sub-region according to the sequencing result.
6. The method of claim 5, wherein determining the weight of each of the target sub-regions according to the ranking results comprises:
and under the condition that the weight is configured for each target sub-region according to a sequencing result obtained after sequencing from small to large, configuring the weight of the target sub-region sequenced at the ith bit to be larger than the weight of the target sub-region sequenced at the (i + 1) th bit.
7. The method of claim 1, wherein determining an actual material placement amount that matches the current location information of the agricultural drone, based on a respective preset material placement amount for each of the plurality of target sub-areas, comprises:
filtering out preset material input quantities with the maximum preset material input quantity and/or the minimum preset material input quantity from the preset material input quantities corresponding to each target sub-area;
calculating the average value of the preset material input amount corresponding to each of the rest target sub-regions;
and determining the average value as the actual material adding amount.
8. The method of claim 1, wherein determining an actual material placement amount that matches the current location information of the agricultural drone, based on a respective preset material placement amount for each of the plurality of target sub-areas, comprises:
calculating an average value of the preset material input amount according to the preset material input amount corresponding to each target sub-region;
and determining the average value as the actual material adding amount.
9. The method of claim 1, wherein determining a plurality of target sub-areas from a work coverage area of the agricultural drone comprises:
and selecting a target sub-area which is separated from the center by one or more preset distances in the operation coverage area of the agricultural unmanned aerial vehicle by taking the current position of the agricultural unmanned aerial vehicle as the center.
10. The method of claim 9, further comprising:
and determining the preset distance according to the spraying amplitude of the agricultural unmanned aerial vehicle.
11. The method of claim 1, further comprising:
acquiring current operation parameters of the agricultural unmanned aerial vehicle;
and determining the current operation flow of the agricultural unmanned aerial vehicle according to the actual material putting amount and the current operation parameters of the agricultural unmanned aerial vehicle.
12. The method of claim 11, the operational parameters comprising one or more of:
operation flying speed, operation duration, operation interval, agricultural unmanned aerial vehicle's spray width, agricultural unmanned aerial vehicle's flying height, shower nozzle velocity of flow.
13. The method of claim 12, wherein determining the current operating flow rate of the agricultural drone based on the actual material placement and the current operating parameters of the agricultural drone comprises:
multiplying the actual material throwing amount, the operation flying speed and the operation distance to obtain a product result;
and determining the current operation flow of the agricultural unmanned aerial vehicle according to the multiplication result.
14. The method of claim 1, further comprising:
and controlling the operation of the agricultural unmanned aerial vehicle according to the actual material throwing amount.
15. An operation control device of an agricultural unmanned aerial vehicle, comprising:
the first acquisition module is used for acquiring the current position information of the agricultural unmanned aerial vehicle;
the first determining module is used for determining the operation coverage area of the agricultural unmanned aerial vehicle according to the current position information of the agricultural unmanned aerial vehicle;
the second determination module is used for determining a plurality of target sub-areas from the operation coverage area of the agricultural unmanned aerial vehicle, wherein each target sub-area has a corresponding preset material putting amount; and
and the third determining module is used for determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount corresponding to each target subarea in the plurality of target subareas.
16. The apparatus of claim 15, wherein the third determining means comprises:
a first determining unit, configured to determine a weight of each target sub-region; and
and the second determining unit is used for determining the actual material putting amount matched with the current position information of the agricultural unmanned aerial vehicle according to the preset material putting amount and weight corresponding to each target subregion.
17. The apparatus of claim 16, wherein the second determining unit is configured to:
and carrying out weighted summation on the preset material input amount corresponding to each target subregion and the weight corresponding to each target subregion to obtain the actual material input amount.
18. The apparatus of claim 16, wherein the first determining unit comprises:
the first determining subunit is used for determining the distance between each target subregion and the current position of the agricultural unmanned aerial vehicle to obtain a respective corresponding calculated distance of each target subregion; and
and the second determining subunit is used for determining the weight of each target sub-region according to the respective corresponding calculated distance of each target sub-region.
19. The apparatus of claim 18, wherein the second determining subunit comprises:
the sorting submodule is used for sorting the respective calculated distance of each target subregion according to the distance to obtain a sorting result; and
and the determining submodule is used for determining the weight of each target sub-area according to the sorting result.
20. The apparatus of claim 19, wherein the determination submodule is to:
and under the condition that the weight is configured for each target sub-region according to a sequencing result obtained after sequencing from small to large, configuring the weight of the target sub-region sequenced at the ith bit to be larger than the weight of the target sub-region sequenced at the (i + 1) th bit.
21. The apparatus of claim 15, wherein the third determining means comprises:
the filtering unit is used for filtering out the preset material input amount with the maximum preset material input amount and/or the minimum preset material input amount in the preset material input amounts corresponding to the target sub-regions;
the first calculating unit is used for calculating the average value of the preset material input amount corresponding to each of the rest target sub-regions;
and the third determining unit is used for determining the average value as the actual material adding amount.
22. The apparatus of claim 15, wherein the third determining means comprises:
the second calculation unit is used for calculating the average value of the pre-determined material input amount according to the pre-determined material input amount corresponding to each target subregion;
and the fourth determining unit is used for determining the average value as the actual material adding amount.
23. The apparatus of claim 15, wherein the second determining means is configured to:
and selecting a target sub-area which is separated from the center by one or more preset distances in the operation coverage area of the agricultural unmanned aerial vehicle by taking the current position of the agricultural unmanned aerial vehicle as the center.
24. The apparatus of claim 23, further comprising:
and the fourth determination module is used for determining the preset distance according to the spraying amplitude of the agricultural unmanned aerial vehicle.
25. The apparatus of claim 15, further comprising:
the second acquisition module is used for acquiring the current operation parameters of the agricultural unmanned aerial vehicle;
and the fifth determining module is used for determining the current operation flow of the agricultural unmanned aerial vehicle according to the actual material putting quantity and the current operation parameters of the agricultural unmanned aerial vehicle.
26. The apparatus of claim 25, the operational parameters comprising one or more of:
operation flying speed, operation duration, operation interval, agricultural unmanned aerial vehicle's spray width, agricultural unmanned aerial vehicle's flying height, shower nozzle velocity of flow.
27. The apparatus of claim 26, wherein the fifth determining means comprises:
the third calculation unit is used for multiplying the actual material throwing amount, the operation flying speed and the operation interval to obtain a product result;
and the fifth determining unit is used for determining the current working flow of the agricultural unmanned aerial vehicle according to the multiplication result.
28. The apparatus of claim 15, further comprising:
and the control module is used for controlling the operation of the agricultural unmanned aerial vehicle according to the actual material throwing amount.
29. An agricultural drone, comprising:
the power device is used for providing flight power for the agricultural unmanned aerial vehicle;
the spraying system is used for executing the operation of the agricultural plant protection unmanned aerial vehicle;
the flight controller is electrically connected with the power device and the spraying system and is used for controlling the power device and the spraying system; wherein the flight controller is further configured to perform the method of any of claims 1 to 14.
30. An electronic device, comprising:
a processor;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the processor, cause the processor to perform the method of any of claims 1-14.
31. A readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 14.
32. A computer program product comprising a computer program which, when executed by a processor, causes the processor to carry out the method of any one of claims 1 to 14.
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| PCT/CN2020/141049 WO2022141102A1 (en) | 2020-12-29 | 2020-12-29 | Operation control method and apparatus for agricultural unmanned aerial vehicle, and agricultural unmanned aerial vehicle |
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| JP6621140B2 (en) * | 2016-02-16 | 2019-12-18 | 株式会社ナイルワークス | Method and program for spraying medicine by unmanned air vehicle |
| CN108124845B (en) * | 2017-12-04 | 2020-11-27 | 北京农业智能装备技术研究中心 | Prescription chart operation method and device |
| CN109353521A (en) * | 2018-11-30 | 2019-02-19 | 郑州升达经贸管理学院 | A kind of UAV system and its control method precisely sprayed |
| CN109845715B (en) * | 2019-03-06 | 2020-12-18 | 广州极飞科技有限公司 | Pesticide spraying control method, device, equipment and storage medium |
| CN110221598A (en) * | 2019-04-19 | 2019-09-10 | 广州极飞科技有限公司 | Job control method and device |
| CN111754060B (en) * | 2019-10-18 | 2023-04-18 | 广州极飞科技股份有限公司 | Variable rate fertilization method and device, electronic equipment and storage medium |
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