WO2020087646A1 - 无人机植保作业控制方法、装置及计算机可读存储介质 - Google Patents
无人机植保作业控制方法、装置及计算机可读存储介质 Download PDFInfo
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- WO2020087646A1 WO2020087646A1 PCT/CN2018/119053 CN2018119053W WO2020087646A1 WO 2020087646 A1 WO2020087646 A1 WO 2020087646A1 CN 2018119053 W CN2018119053 W CN 2018119053W WO 2020087646 A1 WO2020087646 A1 WO 2020087646A1
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- plant protection
- protection operation
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000013507 mapping Methods 0.000 claims description 26
- 238000005507 spraying Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to the technical field of drone plant protection, in particular to a method, device and computer readable storage medium for drone plant protection operation.
- UAV plant protection refers to a technology for preventing and controlling the harm of harmful organisms to crops by spraying drugs with drones. Agricultural producers have begun to use drones for crop protection against plant diseases and insect pests.
- the operator controls the drone operation by selecting the operation task corresponding to the plant protection plot in the control unit.
- the operation task includes the drone route corresponding to the plant protection plot, and when the control unit's task list
- most of the operators choose to manually remotely control the drone for spraying operations, or control the surveying and mapping equipment to survey and plot the plot to be protected, and then based on the information of the plot Formulate the flight path of the drone, and then control the drone to carry out plant protection operations according to the established flight path; there are problems: it is difficult for the operator to accurately control the spraying route of the drone during manual remote control, which affects the spraying effect.
- Surveying and mapping equipment for mapping terrain and editing drone routes make the preparation work before plant protection operations take a long time, greatly reducing the efficiency of plant protection for drones.
- the invention provides a method, device and computer-readable storage medium for drone plant protection operation, aiming to improve the accuracy of drone plant protection operation and the working efficiency of drone plant protection operation.
- the present invention provides a method for plant protection operation of a drone, which is applied to a control unit.
- the method includes the following steps:
- the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements, and the operation tasks include plot information, route information, and configuration information;
- the step of obtaining preset parcel information and route information matching the plant protection operation requirements further includes:
- the step of acquiring the parcel information corresponding to the plant protection operation requirements includes:
- the cloud server has parcel information corresponding to the plant protection operation requirements, the parcel information is called based on the cloud server;
- the drone is controlled to map the parcels corresponding to the plant protection operation requirements to obtain the parcels corresponding to the plant protection operation requirements Information, and send the acquired parcel information to the cloud server.
- the parcel information includes an operable area and an obstacle area
- the step of setting route information based on the parcel information according to a preset rule includes:
- route information is set.
- the method further includes:
- the current plant protection operation information of the drone is displayed on the control unit.
- the plant protection operation information includes operation task information and proportion information of the currently completed operation of the drone.
- the step of determining whether the plant protection operation task list includes the work task corresponding to the plant protection operation requirement based on the current plant protection operation requirement further includes:
- the drone is controlled to perform plant protection operations according to the operation tasks corresponding to the plant protection operation requirements in the task list.
- the step of determining whether the plant protection operation task list includes the work task corresponding to the plant protection operation requirement based on the current plant protection operation requirement further includes:
- the current control mode is the automatic control mode, then perform the step of: based on the current plant protection operation requirements, determine whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements;
- the drone is controlled to perform plant protection operations according to the received manual control commands.
- the present invention also provides a drone plant protection operation control system, which includes a wirelessly connected control unit, a cloud server, and a drone;
- the control unit includes a first judgment module, a first acquisition module, a configuration module and an execution module;
- the first judgment module is used to judge whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements based on the current plant protection operation requirements, and the operation tasks include parcel information, route information and configuration information;
- the plant protection operation task list does not include a work task corresponding to the plant protection operation requirements, and a judgment result of "No" is output to the first acquisition module;
- the first acquiring module is configured to acquire preset parcel information matching the plant protection operation requirements from the cloud server after receiving the judgment result sent by the first judgment module as "No" And route information; and send the acquired parcel information and the route information to the configuration module;
- the configuration module is configured to create an operation task corresponding to the plant protection operation requirement in the task list based on the plot information, the route information, and the plant protection operation requirement;
- the execution module is used to control the drone to perform plant protection operations according to the created operation tasks.
- the present invention also provides a drone plant protection operation control device, the control device includes a processor, a memory, and computer-readable instructions stored in the memory, the computer-readable instructions are When the processor is running, the steps of the control method for the drone plant protection operation described above are realized.
- the present invention also provides a storage medium, which is applied to a computer and stores computer-readable instructions stored on the storage medium. The steps of the machine plant protection operation control method.
- the present invention determines whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements.
- the operation tasks include parcel information, route information and configuration information; if not Including, obtaining preset parcel information and route information matching the plant protection operation requirements; based on the parcel information, the route information and the plant protection operation requirements, creating operations corresponding to the plant protection operation requirements
- the task is in the task list; according to the created task, the drone is controlled to perform plant protection operations.
- a job task is created based on preset parcel information and route information matching the plant protection operation requirement to control the drone operation , Avoiding the inaccurate route control caused by manual remote control of drones, avoiding the time-consuming and low operating efficiency caused by mapping the terrain with the mapping equipment and then editing the drone route, thereby improving the accuracy of UAV plant protection operations Sex and efficiency.
- FIG. 1 is a schematic flowchart of a first embodiment of a method for controlling plant protection operations of a drone according to the present invention
- step S21 is a schematic diagram of the detailed steps of step S21 in the first embodiment of the present invention.
- FIG. 3 is a schematic flowchart of a second embodiment of a method for controlling plant protection operations of a drone according to the present invention
- FIG. 4 is a schematic flowchart of a third embodiment of a method for controlling plant protection operations of a drone according to the present invention.
- FIG. 5 is a schematic flowchart of a fourth embodiment of a method for controlling plant protection operations of a drone according to the present invention.
- FIG. 6 is a schematic flowchart of a fifth embodiment of a method for controlling plant protection operations of a drone according to the present invention.
- FIG. 7 is a schematic diagram of functional modules of a plant protection operation control device for an unmanned aerial vehicle of the present invention.
- the main solution of the embodiment of the present invention is: based on the current plant protection operation requirements, determine whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements, and the operation tasks include plot information, route information, and configuration information; If not included, obtain preset parcel information and route information matching the plant protection operation requirements; based on the parcel information, the route information and the plant protection operation requirements, create a correspondence with the plant protection operation requirements
- the operation tasks are listed in the task list; according to the created operation tasks, the drone is controlled to perform plant protection operations.
- the operator generally controls the drone operation by selecting the operation task corresponding to the plant protection plot in the control unit.
- the operation task includes the drone route corresponding to the plant protection plot, and when the control unit
- most of the operators choose to manually remotely control the drone for spraying operations, or control the surveying and mapping equipment to survey and plot the plot to be protected, and then obtain it according to the survey.
- mapping the terrain with surveying and mapping equipment and then editing the drone route makes the preparation work before plant protection operations take a long time, which greatly reduces the efficiency of drone plant protection.
- the present invention When detecting that there is no job task corresponding to the current plant protection job requirement in the plant protection job task list of the control unit, the present invention creates a job task to control the drone according to preset parcel information and route information matching the plant protection job demand Operation, avoiding the inaccurate route control caused by manual remote control of the drone, avoiding the time-consuming and low efficiency caused by the mapping of the terrain by the surveying and mapping equipment and editing the drone route, thereby improving the plant protection operation of the drone Accuracy and efficiency.
- FIG. 1 is a schematic flowchart of a first embodiment of a method for controlling drone plant protection operations of the present invention.
- the drone plant protection operation control method is applied to the control unit, and the method includes:
- Step S10 Based on the current plant protection operation requirements, determine whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements; the operation tasks include parcel information, route information, and configuration information.
- the plant protection operation requirements include information on plots that require plant protection, crop information, pesticide information, pesticide dosage information, operation time, etc., drone pilots or operators log in to the drone control unit, as described in the present invention
- the control unit can be a ground control station or a control APP installed on a mobile terminal.
- the task information matching the plant protection operation requirements is found in the plant protection operation task list of the control unit.
- the task information includes the task location Block thumbnails, drone route thumbnails and other information.
- the control unit has a password memory function. After the operator enters the password for the first time, he can choose to save the password to the local area, and then he can choose to log in directly after operating again.
- the drone pilot or the operator can directly select the work task, and the control unit loads the route file corresponding to the work task, After the plot file, the drone is controlled to implement plant protection operations based on the route information.
- the plant protection task list of the control unit does not include the work tasks corresponding to the plant protection operation requirements, most of the existing technologies choose to manually control the drone by manual remote control for spraying operations, or control the surveying and mapping equipment to carry out the plant protection plots.
- Surveying and mapping and then formulating the flight path of the drone based on the plot information obtained from the surveying and mapping, and then controlling the drone to carry out plant protection operations in accordance with the established flight path; it is difficult for the operator to accurately control the flight path of the drone, affecting the spray Effect, and it will cause a certain waste of resources, and the terrain is surveyed by surveying and mapping equipment, and then the drone route is edited according to the terrain obtained by surveying and mapping, which makes the preparation work before plant protection operations take longer, which greatly reduces the efficiency of plant protection And the surveying and mapping equipment is responsible for surveying and mapping, and the drone is only responsible for spraying, which also causes a certain degree of waste of resources.
- the plot is a vector file edited after the drone aerial survey. It can display the basic outline of each corresponding plot.
- the route information is based on the edited drone spray flight path of the plot, which has been avoided. Opening of field obstacles and areas that do not require operations have improved the accuracy of plant protection operations.
- the operator after calling the parcel information and route information matching the plant protection requirements from the cloud server, the operator supplements the farmer information, location information, operation information and operation time on the task creation page, and the operation information includes Based on information such as crop information, pesticide information, acreage, etc.
- the cloud server creates the current task in the task list of the control unit based on the task creation information, and generates a task number. Formulating the flight path of the drone based on the information of the plots obtained from surveying and mapping has greatly accelerated the efficiency of plant protection and saved resources.
- S40 Control the drone to perform plant protection operations according to the created operation task.
- the drone pilot or operator logs in to the plant protection drone control unit.
- the control unit may be an application installed on the terminal, and may choose to directly perform drone plant protection operations or load no Man-machine plant protection task list, select the required job data and then perform the operation; if the background cloud server does not have data such as land task information that requires plant protection operations, that is, the control unit does not have a task corresponding to the current plant protection operation requirements, you need to Create a task, set the necessary attributes and operation information on the basis of the parcel and route that have been uploaded to the cloud server, upload it to the background cloud server and add it to the drone operation task list, and the drone operator can load it in the control unit Route files, plot files, and then implement UAV field operations; through the operation tasks of the control unit to control the UAV during field operations, the data of the UAV operation tasks will be transmitted to the background cloud server in real time, the control unit Display current sorting operation information and task information, sorting operation information package Sorties completed area, has completed the task area and the remaining area
- the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements based on the current plant protection operation requirements.
- the operation tasks include parcel information, route information, and configuration information; if not To obtain preset parcel information and route information matching the plant protection operation requirements; based on the parcel information, the route information and the plant protection operation requirements, create a job task corresponding to the plant protection operation requirements In the task list; based on the created task, the drone is controlled to perform plant protection operations; therefore, when there is no task in the control unit's plant protection task list corresponding to the current plant protection operation requirements, according to the preset
- the parcel information and route information matching the plant protection operation requirements create operation tasks to control the drone operation, avoiding the inaccurate route control caused by manual remote control of the drone, avoiding the terrain mapping through the surveying and mapping equipment and then editing the drone
- the problem of time-consuming and low operating efficiency caused by the route has improved the UAV plant protection. The accuracy and efficiency.
- a second embodiment of the present invention provides a method for controlling drone plant protection operations. Based on the first embodiment shown in FIG. 1 above, step S20 obtains preset presets that match the plant protection operation requirements.
- the steps of the parcel information and route information also include:
- Step S21 Obtain the parcel information corresponding to the plant protection operation requirements
- the parcel information corresponding to the plant protection operation requirements is called from the background cloud server.
- the parcel information is a vector file edited after the drone aerial survey, which can show the basics of each corresponding parcel profile.
- Step S22 Based on the parcel information, set route information according to preset rules.
- the drone spray flight path that is, the route information
- the field obstacles and areas that do not need to be operated are avoided when editing, so that Improve the operational accuracy of drone plant protection, improve operational efficiency, and avoid waste of resources.
- Step S23 Send the route information to the cloud server wirelessly connected to the control unit.
- the route information is edited based on the parcel information, and the parcel information and the travel information are preset in the background cloud server.
- the control unit does not need a new task for the job task corresponding to the plant protection job requirement, directly Calling the parcel information obtained by aerial survey and the aeronautical information edited based on the parcel information from the cloud server to create a plant protection task, avoiding the efficiency of plant protection operations caused by surveying and mapping equipment and then editing the drone route according to the survey data Low problem.
- FIG. 3 is a flowchart of the detailed steps of step S21. Specifically, in step S21, the step of acquiring the parcel information corresponding to the plant protection operation requirements includes the following detailed steps:
- Step S211 Determine whether the cloud server has parcel information corresponding to the plant protection operation requirements
- Step S212 based on the cloud server, call the parcel information; call from the cloud server corresponding to the current plant protection operation requirements Plot information.
- step S213 is executed to control the drone to survey and plot the parcel corresponding to the plant protection operation requirement to obtain the parcel information corresponding to the plant protection operation requirement and obtain the The parcel information is sent to the cloud server.
- the plant protection task list of the control unit does not include a job task corresponding to the plant protection operation requirement, it is determined whether the background cloud server is preset with the parcel information corresponding to the plant protection operation requirement obtained by aerial survey, If yes, call the plot information directly in the cloud server. If there is no plot information corresponding to the plant protection operation requirements in the cloud server, then control the drone to survey the current plot to obtain the plant protection operation correspondence Parcel information, and send the acquired parcel information to the cloud server for subsequent calls.
- the parcel information corresponding to the plant protection operation requirements includes an operable area and an obstacle area
- step S22 is a step of setting route information according to preset rules based on the parcel information
- the route information may be set based on the operable area, thereby avoiding field obstacles and areas that do not need to be operated, and improving the accuracy of drone plant protection.
- This embodiment avoids the problem of inaccurate route control caused by manual remote control of the drone through the above solution, avoids the problem of time-consuming and low operating efficiency caused by mapping the terrain through the mapping equipment and editing the drone route, thereby improving the The accuracy and efficiency of man-machine plant protection operations.
- a third embodiment of the present invention proposes a method for plant protection operation control of an unmanned aerial vehicle. Based on the second embodiment shown in FIG. After the steps of the plant protection operation, the machine also includes:
- step S50 the current plant protection operation information of the drone is displayed on the control unit, and the plant protection operation information includes work task information and proportion information of the currently completed operation of the drone.
- the drone when the drone is controlled to perform plant protection operations through the operation tasks in the control unit, during the operation of the drone, the current operation information and task information of the drone's sorting operations are displayed on the control unit
- the sorting operation information includes the completed area of the sorting, the completed task area and the remaining area of the route; the task information includes the current total plant protection area, crop type and task number.
- the operator can obtain the drone operation related information in real time from the control unit as a
- the control unit when the drone is operated manually by the operator, the control unit only displays the sorting operation information for the operator to view.
- the fourth embodiment of the present invention proposes a method for controlling plant protection operations of a drone.
- step S10 based on the current plant protection operation requirements, the plant protection operation task list is determined.
- the step further includes:
- step S60 control the drone to perform plant protection operations according to the operation tasks corresponding to the plant protection operation requirements in the task list.
- the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements. If the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements, click directly Operation tasks, by loading plot files and route files stored in the cloud server, control the drone to perform plant protection operations.
- a fifth embodiment of the present invention proposes a method for controlling plant protection operations of a drone.
- step S10 based on the current plant protection operation requirements, a plant protection task list is determined Before including the step of the operation task corresponding to the plant protection operation requirement, the step further includes:
- Step S11 Determine whether the current control mode of the control unit is an automatic control mode or a manual control mode
- step S10 is performed: based on the current plant protection operation requirements, it is determined whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements;
- step S12 If the current control mode is the manual control mode, then proceed to step S12, and control the drone to perform plant protection operations according to the received manual control command.
- the control unit has two control modes for the operator to choose: automatic control mode and manual control mode
- the automatic control mode is to control the drone according to the operation task corresponding to the plant protection operation needs selected in the control unit
- the route set in the job task is used for plant protection operations.
- the manual control mode is that the operator directly controls the drone flight route through the operation keys to control the drone plant protection. Based on the actual operational requirements and current scenarios, the operator can The control mode of the control unit is selected by yourself.
- the automatic control mode is selected, the steps of the method of other embodiments of the present invention are entered. For details, please refer to the other embodiments of the present invention described above.
- an embodiment of the present invention also provides a drone plant protection operation control device, which includes a first judgment module, a first acquisition module, a configuration module, and a first execution module;
- the first judgment module is used to judge whether the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements based on the current plant protection operation requirements, and the operation tasks include parcel information, route information and configuration information;
- the plant protection operation task list does not include a work task corresponding to the plant protection operation requirements, and a judgment result of "No" is output to the first acquisition module;
- the first acquiring module is configured to acquire preset parcel information matching the plant protection operation requirements from the cloud server after receiving the judgment result sent by the first judgment module as "No" And route information; and send the acquired parcel information and the route information to the configuration module;
- the configuration module is configured to create an operation task corresponding to the plant protection operation requirement in the task list based on the plot information, the route information, and the plant protection operation requirement;
- the first execution module is used to control the drone to perform plant protection operations according to the created operation tasks.
- FIG. 7 is a schematic diagram of a hardware structure of a drone plant protection operation control device according to various embodiments of the present invention.
- the UAV plant protection operation control device may include a processor 1001 (for example, a central processor Central Processing Unit, CPU), communication bus 1002, input port 1003, output port 1004, memory 1005.
- processor 1001 for example, a central processor Central Processing Unit, CPU
- communication bus 1002 input port 1003, output port 1004, memory 1005.
- the communication bus 1002 is used to realize the connection communication between these components; the input port 1003 is used for data input; the output port 1004 is used for data output, and the memory 1005 can be a high-speed RAM memory or a non-volatile memory (non-volatile) memory), such as a disk storage, the storage 1005 may optionally be a storage device independent of the foregoing processor 1001.
- the hardware structure shown in FIG. 7 does not constitute a limitation on the present invention, and may include more or less components than those illustrated, or combine certain components, or arrange different components.
- the memory 1005 as a readable storage medium in FIG. 7 may include an operating system, a network communication module, an application program module, and computer-readable instructions.
- the network communication module is mainly used to connect to the server and perform data communication with the server; and the processor 1001 can call computer-readable instructions stored in the memory 1005 and execute the plant protection operation control provided by the embodiment of the present invention. method;
- the plant protection operation task list includes operation tasks corresponding to the plant protection operation requirements, and the operation tasks include plot information, route information, and configuration information;
- an embodiment of the present invention also provides a computer-readable storage medium having computer-readable instructions stored on the storage medium, the computer-readable instructions being executed by a processor to implement the above-mentioned drone plant protection operation control method
- the computer-readable storage medium may be a non-volatile readable storage medium.
- the method implemented by the computer readable instructions can be implemented by referring to various embodiments of the method for controlling drone plant protection operations of the present invention, which will not be repeated here.
- the methods in the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware, but in many cases the former is better Implementation.
- the technical solution of the present invention can be embodied in the form of a software product in essence or part that contributes to the existing technology, and the computer software product is stored in a storage medium (such as ROM / RAM) as described above , Magnetic disk, optical disk), including several instructions to enable a terminal device to perform the method described in various embodiments of the present invention.
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Abstract
一种无人机植保作业控制方法、装置及计算机可读存储介质，控制方法包括：基于当前的植保作业需求，判断植保作业任务列表是否包括与植保作业需求对应的作业任务，作业任务包括地块信息、航线信息及配置信息（S10）；若不包括，获取预置的与植保作业需求相匹配的地块信息及航线信息（S20）；基于地块信息、航线信息及植保作业需求，创建与植保作业需求对应的作业任务于任务列表（S30）；根据已创建的作业任务，控制无人机进行植保作业（S40），提升了无人机植保作业的准确性及工作效率。
Description
技术领域
本发明涉及无人机植保技术领域，尤其涉及一种无人机植保作业控制方法、装置及计算机可读存储介质。
背景技术
无人机植保是指通过无人机喷洒药剂来预防和控制有害生物对农作物危害的一种技术，无人机植保具有对作物损害小、农药利用率高等特点，近几年来越来越多的农业生产者开始使用无人机进行农作物病虫害防控植保工作。
目前，操作人员通过在控制单元中选择与需植保地块对应的作业任务来控制无人机作业，作业任务中包含了需植保地块对应的无人机航线，而当控制单元的任务列表中没有与需植保地块对应的任务可选时，操作人员大多是选择人工手动遥控无人机进行喷洒作业，或是控制测绘设备对需植保地块进行测绘，然后再根据测绘得到的地块信息制定无人机的飞行路线，再控制无人机按照制定的飞行路线进行植保作业；存在问题有：手动遥控时操作员很难精准把控无人机喷施路线，影响喷施效果，而通过测绘设备测绘地形再编辑无人机航线使得植保作业前的准备工作耗时较久，大大降低了无人机植保效率。
发明内容
本发明提供一种无人机植保作业控制方法、装置及计算机可读存储介质，旨在提升无人机植保作业的准确性，提升无人机植保作业的工作效率。
为实现上述目的，本发明提供一种无人机植保作业控制方法，应用于控制单元，所述方法包括如下步骤：
基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；
若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；
基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；
根据已创建的所述作业任务，控制无人机进行植保作业。
可选地，所述获取预置的与所述植保作业需求相匹配的地块信息及航线信息的步骤之前还包括：
获取所述植保作业需求对应的地块信息；
基于所述地块信息，根据预设规则设置航线信息；
发送所述航线信息至与所述控制单元无线连接的云服务器。
可选地，所述获取所述植保作业需求对应的地块信息的步骤包括：
判断所述云服务器中是否具有与所述植保作业需求对应的地块信息；
若所述云服务器中具有与所述植保作业需求对应的地块信息，则基于所述云服务器，调用所述地块信息；
若所述云服务器中不具有与所述植保作业需求对应的地块信息，则控制所述无人机对所述植保作业需求对应的地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器。
可选地，所述地块信息包括可作业区域及障碍物区域，所述基于所述地块信息，根据预设规则设置航线信息的步骤包括：
基于所述可作业区域，设置航线信息。
可选地，所述根据已创建的所述作业任务，控制无人机进行植保作业的步骤之后还包括：
显示所述无人机当前的植保作业信息于所述控制单元，所述植保作业信息包括作业任务信息及所述无人机当前已完成作业的比例信息。
可选地，所述基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之后还包括：
若包括，则根据所述任务列表中与所述植保作业需求对应的作业任务，控制无人机进行植保作业。
可选地，所述基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之前还包括：
判断所述控制单元当前的控制模式为自动控制模式还是手动控制模式；
若当前控制模式为自动控制模式，则执行步骤：基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务；
若当前控制模式为手动控制模式，则根据接收到的手动控制指令控制无人机进行植保作业。
此外，为实现上述目的，本发明还提供一种无人机植保作业控制系统，所述系统包括无线连接的控制单元、云服务器及无人机；
所述控制单元包括第一判断模块、第一获取模块、配置模块及执行模块；
所述第一判断模块，用于基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若所述植保作业任务列表不包括与所述植保作业需求对应的作业任务，则输出判断结果“否”至所述第一获取模块；
所述第一获取模块，用于在接收到所述第一判断模块发送的判断结果为“否”后，从所述云服务器中获取预置的与所述植保作业需求相匹配的地块信息及航线信息；并将获取到的所述地块信息及所述航线信息发送至所述配置模块；
所述配置模块，用于基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；
所述执行模块，用于根据已创建的所述作业任务，控制所述无人机进行植保作业。
此外，为实现上述目的，本发明还提供一种无人机植保作业控制装置，所述控制装置包括处理器，存储器以及存储在所述存储器中的计算机可读指令，所述计算机可读指令被所述处理器运行时，实现如上所述的无人机植保作业控制方法的步骤。
此外，为实现上述目的，本发明还提供一种存储介质，应用于计算机，所述存储介质上存储有计算机可读指令，所述计算机可读指令被处理器运行时实现如上所述的无人机植保作业控制方法的步骤。
相比现有技术，本发明基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；根据已创建的所述作业任务，控制无人机进行植保作业。由此，当控制单元的植保作业任务列表中没有与当前植保作业需求对应的作业任务时，根据预置的与植保作业需求相匹配的地块信息及航线信息创建作业任务来控制无人机作业，避免了手动遥控无人机造成的路线控制不精准、避免了通过测绘设备测绘地形再编辑无人机航线造成的耗时久，作业效率低的问题，从而提升了无人机植保作业的准确性及效率。
附图说明
图1是本发明无人机植保作业控制方法第一实施例的流程示意图；
图2是本发明第一实施例中步骤S21的细化步骤示意图；
图3是本发明无人机植保作业控制方法第二实施例的流程示意图；
图4是本发明无人机植保作业控制方法第三实施例的流程示意图；
图5是本发明无人机植保作业控制方法第四实施例的流程示意图；
图6是本发明无人机植保作业控制方法第五实施例的流程示意图；
图7是本发明无人机植保作业控制装置的功能模块示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明实施例的主要解决方案是：基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；根据已创建的所述作业任务，控制无人机进行植保作业。
现有技术中，操作人员一般通过在控制单元中选择与需植保地块对应的作业任务来控制无人机作业，作业任务中包含了需植保地块对应的无人机航线，而当控制单元的任务列表中没有与需植保地块对应的任务可选时，操作人员大多是选择人工手动遥控无人机进行喷洒作业，或是控制测绘设备对需植保地块进行测绘，然后再根据测绘得到的地块信息制定无人机的飞行路线，再控制无人机按照制定的飞行路线进行植保作业；一方面手动遥控时操作员很难精准把控无人机喷施路线，影响喷施效果，另一方面通过测绘设备测绘地形再编辑无人机航线使得植保作业前的准备工作耗时较久，大大降低了无人机植保效率。
本发明当检测到控制单元的植保作业任务列表中没有与当前植保作业需求对应的作业任务时，根据预置的与植保作业需求相匹配的地块信息及航线信息创建作业任务来控制无人机作业，避免了手动遥控无人机造成的路线控制不精准、避免了通过测绘设备测绘地形再编辑无人机航线造成的耗时久，作业效率低的问题，从而提升了无人机植保作业的准确性及效率。
为了更好的理解上述技术方案，下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
为了更好的理解上述技术方案，下面将结合说明书附图以及具体的实施方式对上述技术方案进行详细的说明。
参照图1，图1为本发明无人机植保作业控制方法第一实施例的流程示意图。
本实施例中，所述无人机植保作业控制方法应用于控制单元，所述方法包括：
步骤S10，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务；所述作业任务包括地块信息、航线信息及配置信息。
在本实施例中，植保作业需求包括需要植保的地块信息，农作物信息，农药信息，农药用量信息，作业时间等，无人机飞手或者操作人员登录无人机控制单元，本发明所述控制单元可以是地面控制站，也可以是安装于移动终端的控制APP，根据植保作业需求，在控制单元的植保作业任务列表中查找与植保作业需求相匹配的任务信息，任务信息包括了任务地块缩略图，无人机航线缩列图等信息。本实施例控制单元具有密码记忆功能，操作人员首次输入密码之后可选择保存密码至本地，后期再次操作可选择直接登录。
作为一种实施方式，若控制单元的植保作业任务列表中包括有植保作业需求对应的作业任务，无人机飞手或者操作人员可以直接选择作业任务，控制单元通过加载作业任务对应的航线文件，地块文件后控制无人机根据航线信息实施植保作业。
进一步地，若控制单元的植保作业任务列表中不包括与植保作业需求对应的作业任务，现有技术大多是选择人工手动遥控无人机进行喷洒作业，或是控制测绘设备对需植保地块进行测绘，然后再根据测绘得到的地块信息制定无人机的飞行路线，再控制无人机按照制定的飞行路线进行植保作业；操作人员很难精准把控无人机的飞行路线，影响喷施效果，且会对资源造成一定的浪费，而通过测绘设备测绘地形，再根据测绘得到的地形编辑无人机航线，使得植保作业前的准备工作耗时较久，大大降低了无人机植保效率，并且测绘设备负责测绘，无人机仅负责喷施，这也造成一定程度的资源浪费。
若不包括，S20，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；
在本实施例中，若控制单元的植保作业任务列表中不包括与植保作业需求对应的作业任务，与所述植保作业需求相匹配的地块信息及航线信息预置于与控制单元无线连接的云服务器中，地块为通过无人机航测之后编辑得来的矢量文件，可展示每个相应地块的基本轮廓，航线信息是基于地块编辑好的无人机喷施飞行路径，已经避开了田间障碍物及不需作业的区域，提升了植保作业的准确性。
S30，基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；
在本实施例中，从云服务器中调用与植保需求匹配的地块信息及航线信息后，操作人员在任务创建页面补充农户信息，位置信息，作业信息及作业时间后保存，其中，作业信息包括农作物信息、农药信息、亩用量等信息，云服务器基于任务创建信息于控制单元的任务列表中创建当前任务，生成任务编号，本实施例不需要控制测绘设备对需植保地块进行测绘，然后再根据测绘得到的地块信息制定无人机的飞行路线，大大加快了植保工作效率，节省资源。
S40，根据已创建的所述作业任务，控制无人机进行植保作业。
作为一种实施方式，本实施例中，无人机飞手或者操作人员登录植保无人机控制单元，控制单元可以是安装于终端的应用程序，可选择直接进行无人机植保作业或加载无人机植保任务列表选择所需的作业数据再进行作业；若后台云服务器没有需要进行植保作业的地块任务信息等数据，即就是控制单元没有与当前植保作业需求对应的任务可以选择，则需要创建任务，在已经上传云服务器的地块及航线的基础之上，设置必要的属性以及作业信息，上传至后台云服务器添加至无人机作业任务列表，无人机操作人员可在控制单元加载航线文件，地块文件，而后实施无人机田间作业；通过控制单元的作业任务控制无人机在进行田间作业的过程中，无人机作业任务的数据会实时传送到后台云服务器，控制单元显示当前架次作业信息及任务信息，架次作业信息包括架次完成面积、已完成任务面积及航线剩余面积；任务信息包括任务总面积，作物类型及任务编号等信息。
本实施例通过上述方案，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；根据已创建的所述作业任务，控制无人机进行植保作业；由此，当控制单元的植保作业任务列表中没有与当前植保作业需求对应的作业任务时，根据预置的与植保作业需求相匹配的地块信息及航线信息创建作业任务来控制无人机作业，避免了手动遥控无人机造成的路线控制不精准、避免了通过测绘设备测绘地形再编辑无人机航线造成的耗时久，作业效率低的问题，从而提升了无人机植保作业的准确性及效率。
如图2所示，本发明第二实施例提出一种无人机植保作业控制方法，基于上述图1所示的第一实施例，步骤S20，获取预置的与所述植保作业需求相匹配的地块信息及航线信息的步骤之前还包括：
步骤S21，获取所述植保作业需求对应的地块信息；
在本实施例中，从后台云服务器中调用与所述植保作业需求对应的地块信息，地块信息是通过无人机航测之后编辑得来的矢量文件，可展示每个相应地块的基本轮廓。
步骤S22，基于所述地块信息，根据预设规则设置航线信息。
根据获取到的与所述植保作业需求对应的地块后，结合实际作业需求编辑无人机喷施飞行路径，即航线信息，编辑时避开田间障碍物及不需作业的区域，由此可以提升无人机植保的作业准确性，提升作业效率，避免资源浪费。
步骤S23，发送所述航线信息至与所述控制单元无线连接的云服务器。
在本实施例中，基于地块信息编辑航线信息，地块信息及航信信息均预置于后台云服务器中，当控制单元没有与所述植保作业需求对应的作业任务需要新建任务时，直接从云服务器中调用已经航测获得的地块信息及基于所述地块信息编辑得到的航信信息再创建植保任务，避免了通过测绘设备测绘再根据测绘数据编辑无人机航线造成的植保作业效率低的问题。
进一步地，作为一种实施方式，参照图3，图3为步骤S21的细化步骤流程图：具体地，步骤S21，获取所述植保作业需求对应的地块信息的步骤包括如下细化步骤：
步骤S211，判断所述云服务器中是否具有与所述植保作业需求对应的地块信息；
判断后台云服务器中是否预置有航测得到的与所述植保作业需求对应的地块信息。
若所述云服务器中具有与所述植保作业需求对应的地块信息，则进入步骤：步骤S212，基于所述云服务器，调用所述地块信息；从云服务器中调用与当前植保作业需求对应的地块信息。
本实施例方式给出了一种情况下：若所述云服务器中不具有与所述植保作业需求对应的地块信息的实施方式，具体地，若所述云服务器中不具有与所述植保作业需求对应的地块信息，则进入步骤，步骤S213，控制所述无人机对所述植保作业需求对应的地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器。
在本实施方式中，若控制单元的植保作业任务列表中不包括与植保作业需求对应的作业任务，判断后台云服务器中是否预置有航测得到的与所述植保作业需求对应的地块信息，若有，则直接于云服务器中调用地块信息，若云服务器中没有与所述植保作业需求对应的地块信息，则控制无人机对当前地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器供后续调用。
进一步地，作为一种实施方式，所述与所述植保作业需求对应的地块信息包括可作业区域及障碍物区域，步骤S22，基于所述地块信息，根据预设规则设置航线信息的步骤可以是基于所述可作业区域，设置航线信息，由此避开了田间障碍物及不需要作业的区域，提升了无人机植保的准确性。
本实施例通过上述方案，避免了手动遥控无人机造成的路线控制不精准、避免了通过测绘设备测绘地形再编辑无人机航线造成的耗时久，作业效率低的问题，从而提升了无人机植保作业的准确性及效率。
如图4所示，本发明第三实施例提出一种无人机植保作业控制方法，基于上述图2所示的第二实施例，步骤S40，根据已创建的所述作业任务，控制无人机进行植保作业的步骤之后还包括：
步骤S50，显示所述无人机当前的植保作业信息于所述控制单元，所述植保作业信息包括作业任务信息及所述无人机当前已完成作业的比例信息。
具体地，在本实施例中，当无人机是通过控制单元中作业任务控制其进行植保作业时，在无人机作业过程中，显示当前无人机的架次作业信息及任务信息于控制单元，架次作业信息包括架次完成面积、已完成任务面积及航线剩余面积；任务信息包括当前植保总面积、作物类型及任务编号，操作人员可以从控制单元实时获取无人机的作业相关信息，作为一种实施方式，当无人机是操作人员手动控制作业时，控制单元则只显示架次作业信息供操作人员查看。
如图5所示，本发明第四施例提出一种无人机植保作业控制方法，基于上述图1所示的第一实施例，步骤S10，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之后还包括：
若包括，则进入步骤，步骤S60，根据所述任务列表中与所述植保作业需求对应的作业任务，控制无人机进行植保作业。
本实施例中，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，若植保作业任务列表包括与所述植保作业需求对应的作业任务，则直接点击作业任务，通过加载存储在云服务器中的地块文件及航线文件，控制无人机进行植保作业。
如图6所示，本发明第五实施例提出一种无人机植保作业控制方法，基于上述图1所示的第一实施例，步骤S10，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之前还包括：
步骤S11，判断所述控制单元当前的控制模式为自动控制模式还是手动控制模式；
若当前控制模式为自动控制模式，则执行步骤：S10，基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务；
若当前控制模式为手动控制模式，则进入步骤，步骤S12，根据接收到的手动控制指令控制无人机进行植保作业。
在本实施例中，控制单元具有两种控制模式供操作人员选择：自动控制模式和手动控制模式，自动控制模式即根据在控制单元中选择与植保作业需求对应的作业任务来控制无人机按照作业任务中设定的航线进行植保作业，手动控制模式即就是操作人员通过操作键直接控制无人机的飞行航线来控制无人机植保，基于实际实施中的作业需求及当前场景，操作人员可以自行选择控制单元的控制模式，当选择自动控制模式时，进入本发明其它实施例的方法的步骤，具体请参照本本发明上述其它实施例，在此不做一一赘述。
此外，本发明实施例还提供一种无人机植保作业控制装置，所述装置包括第一判断模块、第一获取模块、配置模块及第一执行模块；
所述第一判断模块，用于基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若所述植保作业任务列表不包括与所述植保作业需求对应的作业任务，则输出判断结果“否”至所述第一获取模块；
所述第一获取模块，用于在接收到所述第一判断模块发送的判断结果为“否”后，从所述云服务器中获取预置的与所述植保作业需求相匹配的地块信息及航线信息；并将获取到的所述地块信息及所述航线信息发送至所述配置模块；
所述配置模块，用于基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；
所述第一执行模块，用于根据已创建的所述作业任务，控制所述无人机进行植保作业。
本实施例无人机植保作业控制装置各个组成部件运行时实现如上所述的无人机植保作业控制方法的步骤，在此不再赘述。
进一步地，参照图7，图7是本发明各实施例涉及的无人机植保作业控制装置的硬件结构示意图。本发明实施例中，无人机植保作业控制装置可以包括处理器1001（例如中央处理器Central
Processing
Unit、CPU），通信总线1002，输入端口1003，输出端口1004，存储器1005。其中，通信总线1002用于实现这些组件之间的连接通信；输入端口1003用于数据输入；输出端口1004用于数据输出，存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile
memory），例如磁盘存储器，存储器1005可选的还可以是独立于前述处理器1001的存储装置。本领域技术人员可以理解，图7中示出的硬件结构并不构成对本发明的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
继续参照图7，图7中作为一种可读存储介质的存储器1005可以包括操作系统、网络通信模块、应用程序模块以及计算机可读指令。在图7中，网络通信模块主要用于连接服务器，与服务器进行数据通信；而处理器1001可以调用存储器1005中存储的计算机可读指令，并执行本发明实施例提供的无人机植保作业控制方法；
基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；
若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；
基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；
根据已创建的所述作业任务，控制无人机进行植保作业。
此外，本发明实施例还提供一种计算机可读存储介质，所述存储介质上存储有计算机可读指令，所述计算机可读指令被处理器运行时实现如上所述无人机植保作业控制方法的步骤,计算机可读存储介质可以为非易失性可读存储介质。
其中，所述计算机可读指令被执行是所实现的方法可参照本发明无人机植保作业控制方法各个实施例，此处不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备执行本发明各个实施例所述的方法。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本发明的专利保护范围内。
Claims (20)
- 一种无人机植保作业控制方法，其特征在于，应用于控制单元，所述方法包括如下步骤：基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；根据已创建的所述作业任务，控制无人机进行植保作业。
- 根据权利要求1所述的无人机植保作业控制方法，其特征在于，所述获取预置的与所述植保作业需求相匹配的地块信息及航线信息的步骤之前还包括：获取所述植保作业需求对应的地块信息；基于所述地块信息，根据预设规则设置航线信息；发送所述航线信息至与所述控制单元无线连接的云服务器。
- 根据权利要求2所述的无人机植保作业控制方法，其特征在于，所述获取所述植保作业需求对应的地块信息的步骤包括：判断所述云服务器中是否具有与所述植保作业需求对应的地块信息；若所述云服务器中具有与所述植保作业需求对应的地块信息，则基于所述云服务器，调用所述地块信息；若所述云服务器中不具有与所述植保作业需求对应的地块信息，则控制所述无人机对所述植保作业需求对应的地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器。
- 根据权利要求3所述的无人机植保作业控制方法，其特征在于，所述与所述植保作业需求对应的地块信息包括可作业区域及障碍物区域，所述基于所述地块信息，根据预设规则设置航线信息的步骤包括：基于所述可作业区域，设置航线信息。
- 根据权利要求4所述的无人机植保作业控制方法，其特征在于，所述根据已创建的所述作业任务，控制无人机进行植保作业的步骤之后还包括：显示所述无人机当前的植保作业信息于所述控制单元，所述植保作业信息包括作业任务信息及所述无人机当前已完成作业的比例信息。
- 根据权利要求1所述的无人机植保作业控制方法，其特征在于，所述基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之后还包括：若包括，则根据所述任务列表中与所述植保作业需求对应的作业任务，控制无人机进行植保作业。
- 根据权利要求1所述的无人机植保作业控制方法，其特征在于，所述基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之前还包括：判断所述控制单元当前的控制模式为自动控制模式还是手动控制模式；若当前控制模式为自动控制模式，则执行步骤：基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务；若当前控制模式为手动控制模式，则根据接收到的手动控制指令控制无人机进行植保作业。
- 一种无人机植保作业控制装置，其特征在于，所述装置包括第一判断模块、第一获取模块、配置模块及第一执行模块；所述第一判断模块，用于基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若所述植保作业任务列表不包括与所述植保作业需求对应的作业任务，则发送判断结果“否”至所述第一获取模块；所述第一获取模块，用于在接收到所述第一判断模块发送的判断结果为“否”后，从云服务器中获取预置的与所述植保作业需求相匹配的地块信息及航线信息；并将获取到的所述地块信息及所述航线信息发送至所述配置模块；所述配置模块，用于基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；所述第一执行模块，用于根据已创建的所述作业任务，控制无人机进行植保作业。
- 根据权利要求8所述的无人机植保作业控制装置，其特征在于，所述装置还包括：第二获取模块，用于获取所述植保作业需求对应的地块信息；设置模块，用于基于所述地块信息，根据预设规则设置航线信息，并发送所述航线信息至与所述装置无线连接的云服务器。
- 根据权利要求9所述的无人机植保作业控制装置，其特征在于，所述第二获取模块包括判断单元、调用单元及测绘单元：所述判断单元，用于判断所述云服务器中是否具有与所述植保作业需求对应的地块信息，还用于当判断出所述云服务器中具有与所述植保作业需求对应的地块信息时，发送判断结果“是”至所述调用单元、当判断出所述云服务器中不具有与所述植保作业需求对应的地块信息时，发送判断结果“否”至所述测绘单元；所述调用单元，用于在接收到所述判断单元发送的判断结果为“是”后，基于所述云服务器，调用所述地块信息；所述测绘单元，用于在接收到所述判断单元发送的判断结果为“否”后，控制所述无人机对所述植保作业需求对应的地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器。
- 根据权利要求10所述的无人机植保作业控制装置，其特征在于，所述与所述植保作业需求对应的地块信息包括可作业区域及障碍物区域，所述设置模块还用于基于所述可作业区域，设置航线信息，并发送所述航线信息至与所述装置无线连接的云服务器。
- 根据权利要求11所述的无人机植保作业控制装置，其特征在于，所述装置还包括：显示模块，用于显示所述无人机当前的植保作业信息于所述装置，所述植保作业信息包括作业任务信息及所述无人机当前已完成作业的比例信息。
- 根据权利要求8所述的无人机植保作业控制装置，其特征在于，所述装置还包括第二执行模块；所述第一判断模块，还用于当判断出所述植保作业任务列表包括与所述植保作业需求对应的作业任务，则发送判断结果“是”至所述第二执行模块，所述第二执行模块，用于在接收到所述第一判断模块发送的判断结果为“是”后，根据所述任务列表中与所述植保作业需求对应的作业任务，控制无人机进行植保作业。
- 根据权利要求8所述的无人机植保作业控制装置，其特征在于，所述装置还包括第二判断模块及第三执行模块：第二判断模块，用于判断所述装置当前的控制模式为自动控制模式还是手动控制模式，还用于当判断出所述装置当前的控制模式为自动控制模式时，发送当前判断结果至所述第一判断模块，以使所述第一判断模块基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务；所述第二判断模块还用于当判断出所述装置当前的控制模式为手动控制模式时，发送当前判断结果至所述第三执行模块，以使所述第三执行模块根据接收到的手动控制指令控制无人机进行植保作业。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机可读指令，其中所述计算机可读指令被处理器执行时，实现如下步骤：基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务，所述作业任务包括地块信息、航线信息及配置信息；若不包括，获取预置的与所述植保作业需求相匹配的地块信息及航线信息；基于所述地块信息、所述航线信息及所述植保作业需求，创建与所述植保作业需求对应的作业任务于所述任务列表；根据已创建的所述作业任务，控制无人机进行植保作业。
- 根据权利要求15所述的计算机可读存储介质，其特征在于，所述获取预置的与所述植保作业需求相匹配的地块信息及航线信息的步骤之前还包括：获取所述植保作业需求对应的地块信息；基于所述地块信息，根据预设规则设置航线信息；发送所述航线信息至与所述控制单元无线连接的云服务器。
- 根据权利要求16所述的计算机可读存储介质，其特征在于，所述获取所述植保作业需求对应的地块信息的步骤包括：判断所述云服务器中是否具有与所述植保作业需求对应的地块信息；若所述云服务器中具有与所述植保作业需求对应的地块信息，则基于所述云服务器，调用所述地块信息；若所述云服务器中不具有与所述植保作业需求对应的地块信息，则控制所述无人机对所述植保作业需求对应的地块进行测绘以获取所述植保作业需求对应的地块信息，并将获取到的所述地块信息发送至所述云服务器。
- 根据权利要求17所述的计算机可读存储介质，其特征在于，所述与所述植保作业需求对应的地块信息包括可作业区域及障碍物区域，所述基于所述地块信息，根据预设规则设置航线信息的步骤包括：基于所述可作业区域，设置航线信息。
- 根据权利要求18所述的计算机可读存储介质，其特征在于，所述根据已创建的所述作业任务，控制无人机进行植保作业的步骤之后还包括：显示所述无人机当前的植保作业信息于所述控制单元，所述植保作业信息包括作业任务信息及所述无人机当前已完成作业的比例信息。
- 根据权利要求15所述的计算机可读存储介质，其特征在于，所述基于当前的植保作业需求，判断植保作业任务列表是否包括与所述植保作业需求对应的作业任务的步骤之后还包括：若包括，则根据所述任务列表中与所述植保作业需求对应的作业任务，控制无人机进行植保作业。
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