WO2020113443A1 - Agricultural plant protection unmanned aerial vehicle and control method for agricultural plant protection unmanned aerial vehicle - Google Patents

Agricultural plant protection unmanned aerial vehicle and control method for agricultural plant protection unmanned aerial vehicle Download PDF

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WO2020113443A1
WO2020113443A1 PCT/CN2018/119235 CN2018119235W WO2020113443A1 WO 2020113443 A1 WO2020113443 A1 WO 2020113443A1 CN 2018119235 W CN2018119235 W CN 2018119235W WO 2020113443 A1 WO2020113443 A1 WO 2020113443A1
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plant protection
agricultural plant
protection drone
information
control
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PCT/CN2018/119235
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French (fr)
Chinese (zh)
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张岩松
张海
贾向华
辛昆鹏
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深圳市大疆软件科技有限公司
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Priority to PCT/CN2018/119235 priority Critical patent/WO2020113443A1/en
Publication of WO2020113443A1 publication Critical patent/WO2020113443A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G5/00Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Abstract

An agricultural plant protection unmanned aerial vehicle (100), comprising: a power device (101); a flight controller (102) electrically connected to the power device and used for controlling the power device to adjust the flight attitude; and a communication device (103) which is used for being in communication connection with a control terminal of the agricultural plant protection unmanned aerial vehicle, the communication device being electrically connected to the flight controller, wherein the flight controller controls a control mode of the power device, comprising a normal mode and a restricted mode, and in the restricted mode, the flight controller determines whether to enter into a locked state according to job information of a user; the communication device sends to the flight controller a selection request instruction for the control mode sent by the control terminal; and the flight controller controls the power device to provide flight power according to the selected control mode. Also disclosed is a control method for the agricultural plant protection unmanned aerial vehicle. The present invention enables the manufacturer of the agricultural plant protection unmanned aerial vehicle to effectively manage and control usage rights of the unmanned aerial vehicle and reduce user purchase costs.

Description

农业植保无人机和农业植保无人机的控制方法Agricultural plant protection drone and control method of agricultural plant protection drone 技术领域Technical field
本公开涉及计算机技术领域,具体而言,涉及一种农业植保无人机和农业植保无人机的控制方法。The present disclosure relates to the field of computer technology, and in particular, to an agricultural plant protection drone and an agricultural plant protection drone control method.
背景技术Background technique
无人机是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。目前,随着科技的发展,无人机技术日趋成熟。无人机以其速度快、操作灵活的特点被广泛应用到农业、林业、电力、测绘、遥测等行业。UAV is an unmanned aerial vehicle operated by radio remote control equipment or its own program control device. At present, with the development of science and technology, drone technology is becoming more and more mature. UAVs are widely used in agriculture, forestry, electric power, surveying and mapping, telemetry and other industries due to their fast speed and flexible operation.
但是,对于普通用户来说,无人机成本较高,难以负担。而且在购买无人机后,需要对无人机进行定期保养和维修,同样需要耗费大量的精力和财力。尤其在农业领域,由于植保具有季节性,从而使得植保无人机闲置率较高。因此无人机的普及主要存在以下问题:无人机厂商对销售给用户的无人机使用权缺乏有效管控;用户一次性购机成本高。However, for ordinary users, the cost of drones is relatively high and it is difficult to afford. Moreover, after purchasing a drone, it is necessary to carry out regular maintenance and repair of the drone, which also requires a lot of energy and financial resources. Especially in the agricultural field, due to the seasonal nature of plant protection, the idle rate of plant protection drones is high. Therefore, the popularization of drones mainly has the following problems: UAV manufacturers lack effective control over the use rights of drones sold to users; the one-time purchase cost of users is high.
需要说明的是,在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解,因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。It should be noted that the information disclosed in the above background section is only for enhancing the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to those of ordinary skill in the art.
发明内容Summary of the invention
本公开的目的在于提供一种农业植保无人机和农业植保无人机的控制方法,进而至少在一定程度上克服由于相关技术的限制和缺陷而导致的一个或者多个问题。The purpose of the present disclosure is to provide an agricultural plant protection drone and an agricultural plant protection drone control method, so as to overcome, at least to a certain extent, one or more problems caused by limitations and defects of related technologies.
根据本公开实施例的第一方面,提供了一种农业植保无人机,包括:动力装置,用于给所述无人飞行器提供飞行动力;飞行控制器,与所述动力装置电连接,用于控制所述动力装置调节飞行姿态;以及,通信装置,用于与所述农业植保无人机的控制终端通信连接,所述通信装置与所述飞行控制器电连接,其中,所述飞行控制器控制所述动力装置的控制模式,包括普通模式以及限制模式,在所述限制模式中,所述飞行控制器根据用户的作业信息,确定是否进入锁定状态;所述通信装置将所述控制终端发送的控制模式的选择请求指令,发送给飞行控制器;所述飞行控制器根据所述控制模式的选择请求指令,选择所述普通模式或所述限制模式;所述飞行控制器根据选择的控制模式,控制所述动力装置提供飞行动力。According to a first aspect of the embodiments of the present disclosure, there is provided an agricultural plant protection drone, including: a power device for providing flying power to the unmanned aerial vehicle; a flight controller electrically connected to the power device for For controlling the power device to adjust the flight attitude; and, a communication device for communicating with the control terminal of the agricultural plant protection drone, the communication device is electrically connected with the flight controller, wherein, the flight control The control mode of the power device controls the power device, including a normal mode and a restricted mode. In the restricted mode, the flight controller determines whether to enter the locked state according to the user's operation information; the communication device controls the control terminal The control mode selection request instruction sent to the flight controller; the flight controller selects the normal mode or the restricted mode according to the control mode selection request instruction; the flight controller according to the selected control Mode to control the power device to provide flight power.
根据本公开实施例的第二方面,提供了一种农业植保无人机的控制方法,所述方法包括:接收控制终端发送的控制模式的选择请求指令;根据所述控制模式的选择请求指令,选择普通模式或限制模式;根据选择的控制模式,控制所述动力装置提供飞行动力。According to a second aspect of the embodiments of the present disclosure, there is provided a method for controlling an agricultural plant protection drone, the method comprising: receiving a selection request instruction of a control mode sent by a control terminal; and selecting a request instruction according to the control mode, Select normal mode or restricted mode; control the power device to provide flight power according to the selected control mode.
根据本公开实施例的第三方面,提供了一种农业植保无人机,包括:动力装置,用于给所述无人飞行器提供飞行动力;飞行控制器,与所述动力装置电连接,用于控制所述动力装置调节飞行姿态;以及,传感器,用于获取所述农业植保无人机作业时的作业相关信息,所述传感器与所述飞行控制器通信连接,其中,所述飞行控制器控制所述动力装置的控制模式,包括普通模式以及限制模式,在所述限制模式中,所述飞行控制器根据用户的作业信息,确定是否控制所述动力装置提供飞行动力;所述飞行控制器根据所述传感器获取的作业相关信息,确定所述农业植保无人机的已作业信息;所述飞行控制器根据所述已作业信息的总量,确定是否自动退出所述限制模式,进入普通模式。According to a third aspect of the embodiments of the present disclosure, there is provided an agricultural plant protection drone, including: a power device for providing flight power to the unmanned aerial vehicle; a flight controller electrically connected to the power device for For controlling the power device to adjust the flight attitude; and, a sensor for acquiring operation-related information during the operation of the agricultural plant protection drone, the sensor is in communication connection with the flight controller, wherein the flight controller Control modes for controlling the power device, including a normal mode and a restricted mode, in which the flight controller determines whether to control the power device to provide flight power based on the user's work information; the flight controller Determine the operational information of the agricultural plant protection drone based on the operational information obtained by the sensor; the flight controller determines whether to automatically exit the restricted mode and enter the normal mode based on the total amount of the operational information .
根据本公开实施例的第四方面,提供了一种农业植保无人机的控制方法,所述方法包括:获取传感器获取的作业相关信息根据所述作业相关信息,确定所述农业植保无人机的已作业信息;根据所述已作业信息的总量,确定是否自动退出限制模式,进入普通模式;其中,在所述限制模式中,根据用户的作业信息,确定是否控制动力装置提供飞行动力。According to a fourth aspect of the embodiments of the present disclosure, there is provided a control method for an agricultural plant protection drone, the method includes: acquiring operation related information obtained by a sensor, and determining the agricultural plant protection drone according to the operation related information According to the total amount of the operated information, determine whether to automatically exit the restricted mode and enter the normal mode; wherein, in the restricted mode, based on the user's operating information, determine whether to control the power device to provide flight power.
本公开的一些实施例所提供的技术方案中,一方面能够通过飞行控制器根据具体的作业信息对农业植保无人机的动力装置的控制模式进行切换,便于农业植保无人机厂商有效管控无人机的使用权限;另一方面通过将动力装置的控制模式设置为普通模式和限制模式能够使用户在无人机的控制模式处于限制模式时,通过多次充值的方式使用农业植保无人机进行农业作业,降低了用户一次性购买的成本,并且在农业植保无人机的已作业总量达到一定值时,农业植保无人机的控制模式可以转换为普通模式,不受厂商的限制,进一步提高了用户体验。In the technical solutions provided by some embodiments of the present disclosure, on the one hand, the control mode of the power plant of the agricultural plant protection drone can be switched by the flight controller according to the specific operation information, which is convenient for the agricultural plant protection drone manufacturer to effectively control Man-machine use authority; on the other hand, by setting the control mode of the power plant to normal mode and restricted mode, the user can use the agricultural plant protection drone through multiple recharges when the control mode of the drone is in restricted mode Carrying out agricultural operations reduces the cost of a one-time purchase by the user, and when the total amount of agricultural plant protection drones has reached a certain value, the control mode of the agricultural plant protection drones can be converted to a normal mode, without restrictions from manufacturers. Further improve the user experience.
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本公开。It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure.
附图说明BRIEF DESCRIPTION
通过参照附图来详细描述其示例实施例,本公开的上述和其它特征及优点将变得更加明显。The above and other features and advantages of the present disclosure will become more apparent by describing in detail example embodiments thereof with reference to the drawings.
图1示意性示出了应用根据本公开一些实施例的农业植保无人机的结构示意图;FIG. 1 schematically shows a structural schematic diagram of applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图2示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图;FIG. 2 schematically shows a schematic flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图3示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图;FIG. 3 schematically shows a flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图4示意性示出了应用根据本公开一些实施例的农业植保无人机的激活方法的流程示意图;FIG. 4 schematically shows a flowchart of an activation method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图5示意性示出了应用根据本公开一些实施例的农业植保无人机的结构示意图;FIG. 5 schematically shows a structural schematic diagram of applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图6示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图;FIG. 6 schematically shows a schematic flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
图7示意性示出了应用根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。FIG. 7 schematically shows a flowchart of an activation method for applying an agricultural plant protection drone according to some embodiments of the present disclosure.
具体实施方式detailed description
现在将参考附图更全面地描述示例实施例。然而,示例实施例能够以多种形式实施,且不应被理解为限于在此阐述的实施例;相反,提供这些实施例使得本公开将全面和完整,并将示例实施例的构思全面地传达给本领域的技术人员。在图中相同的附图标记表示相同或类似的部分,因而将省略对它们的重复描述。Example embodiments will now be described more fully with reference to the drawings. However, the exemplary embodiments can be implemented in various forms, and should not be construed as being limited to the embodiments set forth herein; on the contrary, providing these embodiments makes the present disclosure comprehensive and complete, and fully conveys the concept of the exemplary embodiments For those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted.
此外,所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。在下面的描述中,提供许多具体细节从而给出对本公开的实施例的充分理解。然而,本领域技术人员将意识到,可以实践本公开的技术方案而没有所述特定细节中的一个或更多,或者可以采用其它的方法、组元、材料、装置、步骤等。在其它情况下,不详细示出或描述公知结构、方法、装置、实现、材料或者操作以避免模糊本公开的各方面。Furthermore, the described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to give a full understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, devices, steps, etc. may be used. In other instances, well-known structures, methods, devices, implementations, materials or operations have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
附图中所示的方框图仅仅是功能实体,不一定必须与物理上独立的实体相对应。即,可以采用软件形式来实现这些功能实体,或在一个或多个软件硬化的模块中实现这些功能实体或功能实体的一部分,或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。The block diagrams shown in the drawings are merely functional entities and do not necessarily have to correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or implemented in one or more software-hardened modules, or in different networks and/or processor devices and/or microcontroller devices Implement these functional entities.
本发明公开一种无人机及其控制方法,其控制模式包括普通模式以及限制模式,其在满足预设的条件时,选择相应的控制模式进行工作。The invention discloses an unmanned aerial vehicle and a control method thereof. The control mode includes an ordinary mode and a restricted mode. When a preset condition is satisfied, a corresponding control mode is selected to work.
在其中的一些实施例中,根据所述无人机的作业信息选择相应的控制模式。例如,所述已作业信息的总量大于等于预设值,则选择所述普通模式的指令。In some of these embodiments, the corresponding control mode is selected according to the operation information of the drone. For example, if the total amount of the operated information is greater than or equal to a preset value, the instruction of the normal mode is selected.
所述无人机的控制终端,可以根据所述已作业信息的总量大于等于预设值,发送选择所述普通模式的指令。所述控制终端可以为无人机的遥控器,移动电话,平板电脑,地面基站,后台服务器等等。The control terminal of the drone may send an instruction to select the normal mode according to the total amount of the operated information being greater than or equal to a preset value. The control terminal may be a remote control of a drone, a mobile phone, a tablet computer, a ground base station, a background server, and so on.
或者,所述无人机的机载控制器(例如,飞行控制器),可以根据所述已作业信息的总量大于等于预设值,发送选择所述普通模式的指令。Alternatively, the onboard controller (eg, flight controller) of the drone may send an instruction to select the normal mode according to the total amount of the operated information being greater than or equal to a preset value.
具体地,所述作业信息可以包括如下至少一种:作业里程,作业面积,作业时间,作业药量,飞行时间,起飞次数等,拍摄次数,拍摄时间。Specifically, the operation information may include at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, etc., number of shots, and shooting time.
具体地,根据所述无人机的传感器获取作业相关信息,根据作业相关信息计算所 述已作业信息。所述传感器可以包括如下至少一种:定位传感器,计时器,流量计,图像传感器,高度传感器等。Specifically, the operation-related information is acquired according to the sensor of the drone, and the already-operated information is calculated based on the operation-related information. The sensor may include at least one of the following: a positioning sensor, a timer, a flow meter, an image sensor, a height sensor, and the like.
例如,(1)根据所述无人机的定位传感器(例如,GPS等)可以实时获取当前的作业里程,以计算已作业里程。(2)根据所述无人机的定位传感器获取的作业距离以及预设的作业宽度,可以实时获取作业面积,以计算所述已作业面积;或者,根据所述无人机的定位传感器获取的当前位置信息以及预设作业轨迹,计算得到所述已作业面积。(3)根据所述无人机的计时器,实时记录作业时间或飞行时间,以计算所述已作业时间或已飞行时间。(4)根据所述无人机的流量传感器,实时获取喷洒的药量,以计算所述已作业药量。(5)根据所述无人机的高度传感器,实时记录起飞次数,以计算所述起飞次数。(6)根据所述无人机搭载的图像传感器,实时拍摄次数或拍摄时间,以计算所述已拍摄次数或已拍摄时间。For example, (1) according to the positioning sensor (for example, GPS, etc.) of the drone, the current operating mileage can be acquired in real time to calculate the operating mileage. (2) According to the operating distance and preset operating width acquired by the UAV's positioning sensor, the operating area can be acquired in real time to calculate the operating area; or, based on the UAV's positioning sensor The current position information and the preset working trajectory calculate the obtained working area. (3) Record the operating time or flight time in real time according to the timer of the drone to calculate the operating time or flight time. (4) According to the flow sensor of the unmanned aerial vehicle, the amount of sprayed medicine is acquired in real time to calculate the amount of medicine that has been operated. (5) According to the height sensor of the UAV, record the number of takeoffs in real time to calculate the number of takeoffs. (6) According to the image sensor mounted on the drone, the real-time shooting times or shooting time to calculate the shot times or shooting time.
在一些实施例中,根据作业信息的剩余量是否大于预设值,确定所述无人机的预设部件是否进入锁定状态。In some embodiments, it is determined whether the preset component of the drone enters the locked state according to whether the remaining amount of the job information is greater than a preset value.
所述无人机的控制终端,根据作业信息的剩余量是否大于预设值,确定是否进入锁定状态。所述控制终端可以为无人机的遥控器,移动电话,平板电脑,地面基站,后台服务器等等。The control terminal of the drone determines whether to enter the locked state according to whether the remaining amount of the operation information is greater than a preset value. The control terminal may be a remote control of a drone, a mobile phone, a tablet computer, a ground base station, a background server, and so on.
或者,所述无人机的机载控制器(例如,飞行控制器),根据作业信息的剩余量是否大于预设值,确定是否进入锁定状态。Or, the onboard controller (eg, flight controller) of the drone determines whether to enter the locked state according to whether the remaining amount of the operation information is greater than a preset value.
在所述锁定状态(模式)下,可以使所述无人机失去部分、或全部的已有功能,或不执行部分、全部的控制指令。In the locked state (mode), the UAV may lose part or all of its existing functions, or may not execute part or all of the control commands.
例如,在所述锁定状态(模式)时,控制所述无人机的预设部件(例如,作业部件,如喷头、水泵、相机等;动力装置,如,电机等)停止工作。For example, in the locked state (mode), the preset components of the drone (for example, working components such as nozzles, water pumps, cameras, etc.; power devices such as motors) are stopped.
或者,在所述锁定状态(模式)时,控制所述农业植保无人机立即返航,或者停止执行作业计划。Or, in the locked state (mode), control the agricultural plant protection drone to return to the ship immediately, or stop executing the operation plan.
所述无人机可以为航拍无人机、农业植保无人机、勘测无人机,巡线无人机等。在下述的实施例中,以农业植保无人机为例进行说明。The unmanned aerial vehicle may be an aerial drone, an agricultural plant protection unmanned aerial vehicle, a survey unmanned aerial vehicle, a line patrol unmanned aerial vehicle, or the like. In the following embodiments, the agricultural plant protection drone is taken as an example for description.
下面结合附图,对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.
图1示出了根据本公开一些实施例的农业植保无人机的结构示意图。FIG. 1 shows a schematic structural diagram of an agricultural plant protection drone according to some embodiments of the present disclosure.
参照图1所示,本公开中的农业植保无人机100可以包括:动力装置101、飞行控制器102、通信装置103,具体地,动力装置101用于给农业植保无人机100提供飞行动力;飞行控制器102与动力装置101电连接,用于控制动力装置101调节飞行姿态; 通信装置103用于与农业植保无人机100的控制终端104通信连接,通信装置103与飞行控制器102电连接,其中,飞行控制器102控制动力装置101的控制模式,包括普通模式以及限制模式,在限制模式中,飞行控制器102根据用户的作业信息,确定是否进入锁定状态;通信装置103将控制终端104发送的控制模式的选择请求指令,发送给飞行控制器102;飞行控制器102根据控制模式的选择请求指令,选择普通模式或限制模式;飞行控制器102根据选择的控制模式,控制动力装置101提供飞行动力。Referring to FIG. 1, the agricultural plant protection drone 100 in the present disclosure may include: a power device 101, a flight controller 102, and a communication device 103. Specifically, the power device 101 is used to provide flight power to the agricultural plant protection drone 100 The flight controller 102 is electrically connected to the power device 101 for controlling the power device 101 to adjust the flight attitude; the communication device 103 is used for communication connection with the control terminal 104 of the agricultural plant protection drone 100, and the communication device 103 is electrically connected to the flight controller 102 Connection, in which the flight controller 102 controls the control mode of the power device 101, including the normal mode and the restricted mode, in the restricted mode, the flight controller 102 determines whether to enter the locked state according to the user's work information; the communication device 103 will control the terminal The control mode selection request command sent by 104 is sent to the flight controller 102; the flight controller 102 selects the normal mode or the restricted mode according to the control mode selection request command; the flight controller 102 controls the power unit 101 according to the selected control mode Provide flight power.
在示例实施例中,动力装置101的控制模式分为普通模式和限制模式两种,其中普通模式是指农业植保无人机100不受其中的充值余额及无人机厂商等因素的限制,可以根据用户的指令进行相应作业的模式;限制模式是指农业植保无人机100受充值余额和无人机厂商等因素的限制,例如,当用户需要使用农业植保无人机100进行撒肥、播种等作业时,待农业植保无人机100被激活后,需要进行充值才能获取与充值金额对应的作业信息,如作业面积、作业里程、作业时间、作业药量、飞行时间、起飞次数、充值金额等等,否则用户无法操控农业植保无人机100进行作业。用户充值后,农业植保无人机100根据设置好的作业信息进行作业,在作业的同时,农业植保无人机100中的监测装置可以对作业面积进行监测,根据作业面积和费用参数计算作业费用,并从充值余额中实时扣除作业费用,当扣除作业费用后的余额不足预设额度时,农业植保无人机100便会进入锁定状态,只有用户再次充值后才能够继续使用。In the exemplary embodiment, the control mode of the power device 101 is divided into two modes: a normal mode and a restricted mode, where the normal mode refers to the agricultural plant protection drone 100 is not restricted by factors such as the recharge balance and the drone manufacturer, etc. The mode of corresponding operation according to the user's instructions; the restricted mode refers to the agricultural plant protection drone 100 is limited by the recharge balance and the drone manufacturer and other factors, for example, when the user needs to use the agricultural plant protection drone 100 for fertilizer spreading and planting During the operation, after the agricultural plant protection drone 100 is activated, you need to recharge to obtain the operation information corresponding to the recharge amount, such as operation area, operation mileage, operation time, operation dose, flight time, number of takeoffs, recharge amount Wait, otherwise the user cannot control the agricultural plant protection drone 100 to work. After the user recharges, the agricultural plant protection drone 100 operates according to the set operation information. During the operation, the monitoring device in the agricultural plant protection drone 100 can monitor the operation area and calculate the operation cost according to the operation area and the cost parameters And deduct the operating expenses from the recharge balance in real time. When the balance after deducting the operating expenses is less than the preset amount, the agricultural plant protection drone 100 will enter the locked state, and only the user can continue to use it after recharging.
在示例实施例中,动力装置101的控制模式可以根据农业植保无人机100进行的作业信息的总量进行切换,其中已作业信息的总量是农业植保无人机100的所有历次已作业信息量之和,当已作业信息的总量大于等于预设值时,农业植保无人机100的控制终端发送选择普通模式的指令。In an example embodiment, the control mode of the power plant 101 can be switched according to the total amount of work information performed by the agricultural plant protection drone 100, where the total amount of work information is all previous work information of the agricultural plant protection drone 100 When the total amount of the operated information is greater than or equal to the preset value, the control terminal of the agricultural plant protection drone 100 sends an instruction to select the normal mode.
在示例实施例中,飞行控制器102可以实时获取农业植保无人机100当前的已作业信息,并根据当前的已作业信息更新本地存储的已作业信息。具体地,已作业信息可以存储于本地的一非关系型数据库中,其中非关系型数据库中的key值为作业时间点,value值为各作业时间点对应的已作业信息,记录时,各作业时间点可以间隔1s、3s等,以各作业时间点间隔1s,且已作业信息为已作业面积为例,若每秒农业植保无人机100可喷洒10亩农田,则根据具体地喷洒时长能够确定当前的已作业信息,如截止到第5s,农业植保无人机100的已作业面积为50亩,截止到第10s,农业植保无人机100的已作业面积为100亩,等等。进一步的,为了节省存储空间,可以采用新的已作业信息替换旧的已作业信息,通过飞行控制器102中的计算单元将实时获取的已作业信息与前一时刻实时获取的已作业信息相加即可得到当前的已作业信息,并通过该当前的已作业信息替换本地存储的前一时刻获取的已作业信息。In an example embodiment, the flight controller 102 can obtain the current operational information of the agricultural plant protection drone 100 in real time, and update the locally stored operational information according to the current operational information. Specifically, the job information can be stored in a local non-relational database, where the key value in the non-relational database is the job time point, and the value is the job information corresponding to each job time point. When recording, each job Time points can be separated by 1s, 3s, etc. Taking each operation time point at an interval of 1s, and the operation information is the operation area as an example, if the agricultural plant protection drone 100 can spray 10 acres of farmland per second, according to the specific spraying time Determine the current operating information. For example, as of the 5th s, the agricultural plant protection drone 100 has an operating area of 50 mu, as of the 10s, the agricultural plant protection drone 100 has an operating area of 100 mu, and so on. Further, in order to save storage space, the old work information can be replaced with new work information, and the calculation unit in the flight controller 102 adds the work information acquired in real time to the work information acquired in real time at the previous moment You can get the current job information, and use the current job information to replace the locally stored job information obtained at the previous moment.
在示例实施例中,飞行控制器102还可以获取农业植保无人机100的已作业信息的总量,并根据已作业信息的总量确定是否进入普通模式,具体地,可以将已作业信息的总量与一预设值进行比较,当农业植保无人机100的已作业信息的总量大于等于预设值时,控制终端将向通信装置103发送选择普通模式的指令,通信装置103则将选择普通模式的指令发送至飞行控制器102,以使飞行控制器102根据选择普通模式的指令选择普通模式;相应地,当农业植保无人机100的已作业信息的总量小于预设值时,控制终端将向通信装置103发送选择限制模式的指令,通信装置103则将选择限制模式的指令发送至飞行控制器102,以使飞行控制器102根据选择限制模式的指令选择限制模式。In an example embodiment, the flight controller 102 may also obtain the total amount of the operational information of the agricultural plant protection drone 100, and determine whether to enter the normal mode according to the total amount of the operational information. Specifically, the operational information The total amount is compared with a preset value. When the total amount of the operational information of the agricultural plant protection drone 100 is greater than or equal to the preset value, the control terminal will send an instruction to select the normal mode to the communication device 103, and the communication device 103 will The command to select the normal mode is sent to the flight controller 102, so that the flight controller 102 selects the normal mode according to the command to select the normal mode; accordingly, when the total amount of the operated information of the agricultural plant protection drone 100 is less than the preset value The control terminal will send an instruction to select the restriction mode to the communication device 103, and the communication device 103 will send the instruction to select the restriction mode to the flight controller 102, so that the flight controller 102 selects the restriction mode according to the instruction to select the restriction mode.
在示例实施例中,为了提高农业植保无人机100中的信息安全性,可以通过农业植保无人机100的控制终端采用不同的秘钥对农业植保无人机100中的通信数据进行加密或/及解密。由于不同的无人机,其所对应的飞行控制系统序列号(SN码)、机架号以及媒体访问控制地址(MAC地址)均不同,因此可以根据该些信息形成秘钥。在本公开的示例实施例中,可以根据农业植保无人机100的SN码形成与农业植保无人机100对应的唯一的秘钥,这样控制终端就可以根据不同的农业植保无人机100的SN码获取每个农业植保无人机中的作业信息的剩余量,并且控制终端还可以通过该秘钥与飞行控制器102进行信息交互。进一步的,根据农业植保无人机100的SN码生成秘钥,并通过秘钥对通信数据进行加密时,可以是对通信数据进行对称加密和/或非对称加密,当对加密后的通信数据进行解密时,可以采用加密算法的逆运算进行解密,本公开在此不再赘述。通过对每个农业植保无人机100设置与其唯一对应的秘钥,能够提高通信数据的安全性,为农业植保无人机100的正常使用提供保障。In the exemplary embodiment, in order to improve the information security in the agricultural plant protection drone 100, the control terminal of the agricultural plant protection drone 100 may use different keys to encrypt the communication data in the agricultural plant protection drone 100 or /And decryption. Because different UAVs have different flight control system serial numbers (SN codes), rack numbers, and media access control addresses (MAC addresses), they can form secret keys based on the information. In the exemplary embodiment of the present disclosure, the unique key corresponding to the agricultural plant protection drone 100 can be formed according to the SN code of the agricultural plant protection drone 100, so that the control terminal can The SN code obtains the remaining amount of operation information in each agricultural plant protection drone, and the control terminal can also exchange information with the flight controller 102 through the secret key. Further, when the secret key is generated according to the SN code of the agricultural plant protection drone 100, and the communication data is encrypted by the secret key, the communication data may be symmetrically and/or asymmetrically encrypted. When the encrypted communication data is When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here. By setting a unique key corresponding to each agricultural plant protection drone 100, it is possible to improve the security of communication data and provide guarantee for the normal use of the agricultural plant protection drone 100.
在示例实施例中,在对农业植保无人机100进行激活时,用户通过用户终端设备向农业植保无人机100的控制终端发送激活请求;控制终端接收到该激活请求后,根据激活请求生成激活指令,并将该激活指令发送至飞行控制器102;飞行控制器102接收到该激活指令后,根据该激活指令激活农业植保无人机100。其中控制终端在发送激活指令前,可以先采用根据SN码生成的秘钥对该激活指令进行加密,然后再将加密的激活指令发送至飞行控制器102,当飞行控制器102接收到加密的激活指令后,根据对应的秘钥对其进行解密,最后再根据解密后的激活指令激活农业植保无人机100。In an example embodiment, when activating the agricultural plant protection drone 100, the user sends an activation request to the control terminal of the agricultural plant protection drone 100 through the user terminal device; after receiving the activation request, the control terminal generates according to the activation request Activate the instruction and send the activation instruction to the flight controller 102; after receiving the activation instruction, the flight controller 102 activates the agricultural plant protection drone 100 according to the activation instruction. Before sending an activation command, the control terminal may encrypt the activation command using a secret key generated according to the SN code, and then send the encrypted activation command to the flight controller 102. When the flight controller 102 receives the encrypted activation After the instruction, decrypt it according to the corresponding secret key, and finally activate the agricultural plant protection drone 100 according to the decrypted activation instruction.
在示例实施例中,可以定期对农业植保无人机100进行固件升级,新版本的固件能够修复老版固件中的缺陷,并增添新的功能。在升级固件时,飞行控制器102可以获取新版本固件的固件头信息,并将其与当前农业植保无人机100的固件信息进行匹配,判断当前农业植保无人机100的固件版本是否为新版本固件。其中,固件头信息可以包括固件版本号和固件类型中的至少一种,因而在确定当前农业植保无人机100的固件版本 时,可以根据固件头信息中的固件版本号和/或固件类型进行确定。In the exemplary embodiment, the firmware of the agricultural plant protection drone 100 may be regularly updated, and the new version of the firmware can repair defects in the old version of the firmware and add new functions. When upgrading the firmware, the flight controller 102 can obtain the firmware header information of the new version of the firmware and match it with the current agricultural plant protection drone 100 firmware information to determine whether the current agricultural plant protection drone 100 firmware version is new Version firmware. The firmware header information may include at least one of a firmware version number and a firmware type. Therefore, when determining the current firmware version of the agricultural plant protection drone 100, the firmware version number and/or firmware type in the firmware header information may be used. determine.
在示例实施例中,当动力装置101的控制模式为限制模式时,飞行控制器102可以根据用户的作业信息确定飞行控制器102是否进入锁定状态。具体地,可以获取作业信息的剩余量,其中作业信息具体可以是作业面积、作业里程、作业时间、作业药量、飞行时间、起飞次数、充值金额中的至少一个,当作业信息的剩余量小于等于预设值时,飞行控制器102进入锁定状态。以作业信息为作业面积为例,当作业面积的剩余量为10亩,其对应的金额为20元,而当前农业植保无人机100的可用额度为19元,则控制终端会发送一锁定指令至飞行控制器102,飞行控制器102根据该锁定指令进入锁定状态,停止控制农业植保无人机100的作业部件,如水泵、喷头、喷洒器等装置,进行作业。In an example embodiment, when the control mode of the power device 101 is the restricted mode, the flight controller 102 may determine whether the flight controller 102 enters the locked state according to the user's work information. Specifically, the remaining amount of the operation information may be obtained, wherein the operation information may specifically be at least one of an operation area, an operation mileage, an operation time, an operation medicine amount, a flight time, a take-off number, and a recharge amount, when the remaining amount of the operation information is less than When equal to the preset value, the flight controller 102 enters the locked state. Taking the operation information as the operation area as an example, when the remaining area of the operation area is 10 mu, the corresponding amount is 20 yuan, and the current available quota for the agricultural plant protection drone 100 is 19 yuan, the control terminal will send a lock command To the flight controller 102, the flight controller 102 enters the locked state according to the lock instruction, and stops controlling the working components of the agricultural plant protection drone 100, such as water pumps, sprinklers, and sprinklers, to perform operations.
在示例实施例中,当飞行控制器102进入锁定状态时,飞行控制器102可以控制动力装置101不产生起飞动力,即农业植保无人机100进入锁机状态;飞行控制器102也可以控制农业植保无人机100立即返航,而不进行任何的作业;抑或,飞行控制器102可以向农业植保无人机100的遥控器发送锁定的提示信息,以提示用户及时充值,保证充值金额对应的作业信息大于等于作业信息的剩余量。值得注意的是,在飞行控制器102进入锁定状态时,飞行控制器102即停止执行作业计划,只有当用户再充值,且充值金额对应的作业信息大于等于作业信息的剩余量后,才能重新执行作业计划。In an example embodiment, when the flight controller 102 enters the locked state, the flight controller 102 may control the power device 101 not to generate takeoff power, that is, the agricultural plant protection drone 100 enters the locked state; the flight controller 102 may also control agriculture The plant protection drone 100 returns immediately without any operation; or, the flight controller 102 can send a locked prompt message to the remote control of the agricultural plant protection drone 100 to prompt the user to recharge in time to ensure the operation corresponding to the recharge amount The information is greater than or equal to the remaining amount of job information. It is worth noting that when the flight controller 102 enters the locked state, the flight controller 102 stops executing the operation plan. Only when the user recharges and the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information can it be re-executed Homework plan.
图2示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。FIG. 2 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
参照图2所示,农业植保无人机的控制方法可以包括以下步骤:Referring to FIG. 2, the control method of an agricultural plant protection drone may include the following steps:
S20:接收控制终端发送的控制模式的选择请求指令;S20: Receive a control mode selection request command sent by the control terminal;
在示例实施例中,该方法的执行主体可以是飞行控制器102,农业植保无人机100的控制终端通过通信装置103将控制模式的选择请求指令发送至与通信装置103电连接的飞行控制器102。In an example embodiment, the execution subject of the method may be the flight controller 102, and the control terminal of the agricultural plant protection drone 100 transmits the selection request instruction of the control mode to the flight controller electrically connected to the communication device 103 through the communication device 103 102.
在示例实施例中,飞行控制器102可以控制动力装置101的控制模式,该控制模式包括普通模式和限制模式,具体地,普通模式是指农业植保无人机100不受其中的充值余额及无人机厂商等因素的限制,可以根据用户的指令进行相应作业的模式;限制模式是指农业植保无人机100受充值余额和无人机厂商等因素的限制,无法根据用户的指令进行作业,必须通过飞行控制器102接收到农业植保无人机100的控制终端的指令后才能进行作业。飞行控制器102根据接收到的控制模式的选择请求指令可以选择具体的控制模式,并根据具体的控制模式进行相应操作。In an example embodiment, the flight controller 102 may control the control mode of the power plant 101, the control mode includes a normal mode and a restricted mode, specifically, the normal mode refers to the agricultural plant protection drone 100 is not subject to the recharge balance and no Restrictions such as man-machine manufacturers and other factors can be carried out according to the user's instructions. Restricted mode refers to the agricultural plant protection drone 100 is restricted by factors such as recharge balance and drone manufacturer, and cannot operate according to the user's instructions. The operation can only be carried out after receiving instructions from the control terminal of the agricultural plant protection drone 100 through the flight controller 102. The flight controller 102 can select a specific control mode according to the received control mode selection request instruction, and perform corresponding operations according to the specific control mode.
S22:根据所述控制模式的选择请求指令,选择普通模式或限制模式;S22: Select the normal mode or the restricted mode according to the selection request instruction of the control mode;
在示例实施例中,飞行控制器102根据控制模式的选择请求指令可以选择普通模式或限制模式,而农业植保无人机100的控制终端发送的选择请求指令根据农业植保无人 机100的已作业信息的总量的变化而变化,当已作业信息的总量大于等于预设值时,控制终端发送普通模式的指令;当已作业信息的总量小于预设值时,控制终端发送限制模式的指令。飞行控制器102接收到普通模式的指令后,可以选择普通模式,根据用户的指令控制农业植保无人机100进行作业;飞行控制器102接收到限制模式的指令后,可以选择限制模式,待根据用户的激活请求激活农业植保无人机100后,根据控制终端的指令控制农业植保无人机100进行相应的作业。In the exemplary embodiment, the flight controller 102 can select the normal mode or the restricted mode according to the selection request instruction of the control mode, and the selection request instruction sent by the control terminal of the agricultural plant protection drone 100 is based on the operation of the agricultural plant protection drone 100 The total amount of information changes and changes. When the total amount of work information is greater than or equal to the preset value, the control terminal sends a command in the normal mode; when the total amount of work information is less than the preset value, the control terminal sends the limit mode instruction. After receiving the command in the normal mode, the flight controller 102 can select the normal mode and control the agricultural plant protection drone 100 to perform operations according to the user's instructions; after receiving the command in the limited mode, the flight controller 102 can select the limited mode and wait for After the user's activation request activates the agricultural plant protection drone 100, the agricultural plant protection drone 100 is controlled to perform corresponding operations according to the instructions of the control terminal.
S24:根据选择的控制模式,控制所述动力装置提供飞行动力。S24: Control the power device to provide flight power according to the selected control mode.
在示例实施例中,飞行控制器102可以选择不同的控制模式,根据不同的控制模式控制农业植保无人机100中的动力装置101提供飞行动力或不提供飞行动力。具体地,当控制模式为普通模式时,飞行控制器102可以根据用户设定的作业信息控制动力装置101提供飞行动力,按照预设航线进行作业,如施肥、喷药等,在完成作业时,飞行控制器102则控制动力装置101停止提供飞行动力,结束作业;当控制模式为限制模式时,飞行控制器102可以根据农业植保无人机100的控制终端的指令进行作业,当用户的作业信息的剩余量大于预设值时,飞行控制器102控制动力装置101提供飞行动力,按照预设航线进行作业;当用户的作业信息的剩余量小于等于预设值时,飞行控制器102控制动力装置101停止提供飞行动力,停止控制农业植保无人机100的作业部件,如水泵、喷头、播撒器等,进行作业,或者控制动力装置101提供飞行动力保证农业植保无人机100返航。In an example embodiment, the flight controller 102 may select different control modes, and control the power device 101 in the agricultural plant protection drone 100 to provide or not provide flight power according to the different control modes. Specifically, when the control mode is the normal mode, the flight controller 102 can control the power device 101 to provide flight power according to the operation information set by the user, and perform operations according to a preset route, such as fertilization, spraying, etc. When the operation is completed, The flight controller 102 controls the power device 101 to stop providing flight power and end the operation; when the control mode is the restricted mode, the flight controller 102 can perform operations according to the instructions of the control terminal of the agricultural plant protection drone 100, when the user's operation information When the remaining amount of is greater than the preset value, the flight controller 102 controls the power device 101 to provide flight power and operate according to the preset route; when the remaining amount of the user's operation information is less than or equal to the preset value, the flight controller 102 controls the power device 101 stops providing flight power, stops controlling the operating components of the agricultural plant protection drone 100, such as water pumps, sprinklers, and spreaders, etc., or controls the power device 101 to provide flight power to ensure the return of the agricultural plant protection drone 100.
图3示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。FIG. 3 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
参考图3所示,在步骤S30中,飞行控制器102实时获取当前的已作业信息;在步骤S32中,根据当前的已作业信息,更新本地存储的已作业信息;其中已作业信息可以存储于本地的一非关系型数据库中,其中非关系型数据库中的key值为作业时间点,value值为各作业时间点对应的已作业信息,通过将各个作业时间点对应的已作业信息相加即可获得当前的已作业信息;也可以是将实时获取的已作业信息与前一时刻实时获取的已作业信息相加即可得到当前的已作业信息,并通过该当前的已作业信息替换本地存储的前一时刻获取的已作业信息;在步骤S34中,获取已作业信息的总量;其中已作业信息的总量为农业植保无人机100的所有历次已作业信息之和;在步骤S36中,根据已作业信息的总量,确定是否进入普通模式;在步骤S38中,若已作业信息的总量大于预设值,则进入普通模式;若已作业信息的总量小于等于预设值,则进入限制模式。Referring to FIG. 3, in step S30, the flight controller 102 obtains the current operational information in real time; in step S32, the locally stored operational information is updated according to the current operational information; wherein the operational information can be stored in In a local non-relational database, the key value in the non-relational database is the operation time point, and the value is the operation information corresponding to each operation time point. By adding the operation information corresponding to each operation time point, You can get the current job information; you can also add the real-time job information and real-time job information obtained at the previous moment to get the current job information, and replace the local storage with the current job information The completed operation information obtained at the previous moment of the operation; in step S34, the total operation information is obtained; the total operation information is the sum of all previous operations of the agricultural plant protection drone 100; in step S36 , Determine whether to enter the normal mode according to the total amount of work information; in step S38, if the total amount of work information is greater than the preset value, enter the normal mode; if the total amount of work information is less than or equal to the preset value, Then enter the restricted mode.
图4示出了根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。FIG. 4 shows a schematic flowchart of an activation method of an agricultural plant protection drone according to some embodiments of the present disclosure.
参考图4所示,在步骤S40中,飞行控制器102接收激活指令;具体地,用户通过用户终端设备向农业植保无人机100的控制终端发送激活请求;控制终端接收到该激活 请求后,根据激活请求生成激活指令,并将该激活指令发送至飞行控制器102;在步骤S42中,根据激活指令,激活农业植保无人机100。Referring to FIG. 4, in step S40, the flight controller 102 receives an activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection drone 100 through the user terminal device; after the control terminal receives the activation request, An activation instruction is generated according to the activation request, and the activation instruction is sent to the flight controller 102; in step S42, the agricultural plant protection drone 100 is activated according to the activation instruction.
进一步,在步骤S40中,控制终端在发送激活指令前,可以先采用根据SN码生成的秘钥对该激活指令进行加密,然后再将加密的激活指令发送至飞行控制器102;在步骤S42中,当飞行控制器102接收到加密的激活指令后,根据对应的秘钥对加密的激活指令进行解密,再根据解密后的激活指令激活农业植保无人机100。Further, in step S40, before sending the activation command, the control terminal may first encrypt the activation command using the secret key generated according to the SN code, and then send the encrypted activation command to the flight controller 102; in step S42 After receiving the encrypted activation instruction, the flight controller 102 decrypts the encrypted activation instruction according to the corresponding secret key, and then activates the agricultural plant protection drone 100 according to the decrypted activation instruction.
在示例实施例中,可以对农业植保无人机100中的通信数据进行加密或/及解密,由于不同的无人机所对应的飞行控制系统序列号(SN码)、机架号以及媒体访问控制地址(MAC地址)均不同,因此可以根据该些信息形成秘钥,以对通信数据进行加密或/及解密。在本公开的示例实施例中,可以根据农业植保无人机100的SN码形成与农业植保无人机100对应的唯一的秘钥。获得秘钥后,控制终端还可以根据不同的农业植保无人机100的SN码获取无人机中的作业信息的剩余量,还可以通过该秘钥与飞行控制器102进行信息交互。进一步的,根据农业植保无人机100的SN码生成秘钥,并通过秘钥对通信数据进行加密时,可以是对通信数据进行对称加密和/或非对称加密,当对加密后的通信数据进行解密时,可以采用加密算法的逆运算进行解密,本公开在此不再赘述。通过对每个农业植保无人机100设置与其唯一对应的秘钥,能够提高通信数据的安全性,为农业植保无人机100的正常使用提供保障。In an example embodiment, the communication data in the agricultural plant protection drone 100 can be encrypted or/and decrypted, due to the serial number (SN code), rack number and media access of the flight control system corresponding to different drones The control addresses (MAC addresses) are different, so a secret key can be formed based on the information to encrypt or/and decrypt the communication data. In the exemplary embodiment of the present disclosure, the unique key corresponding to the agricultural plant protection drone 100 may be formed according to the SN code of the agricultural plant protection drone 100. After obtaining the secret key, the control terminal can also obtain the remaining amount of operation information in the drone according to the SN codes of different agricultural plant protection drones 100, and can also interact with the flight controller 102 through the secret key. Further, when the secret key is generated according to the SN code of the agricultural plant protection drone 100, and the communication data is encrypted by the secret key, the communication data may be symmetrically and/or asymmetrically encrypted. When the encrypted communication data is When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here. By setting a unique key corresponding to each agricultural plant protection drone 100, it is possible to improve the security of communication data and provide guarantee for the normal use of the agricultural plant protection drone 100.
在示例实施例中,可以定期对农业植保无人机100进行固件升级,新版本的固件能够修复老版固件中的缺陷,并增添新的功能。在升级固件时,飞行控制器102可以获取新版本固件的固件头信息,并将其与当前农业植保无人机100的固件信息进行匹配,判断当前农业植保无人机100的固件版本是否为新版本固件。其中,固件头信息可以包括固件版本号和固件类型中的至少一种,因而在确定当前农业植保无人机100的固件版本时,可以根据固件头信息中的固件版本号和/或固件类型进行确定。In the exemplary embodiment, the firmware of the agricultural plant protection drone 100 may be regularly updated, and the new version of the firmware can repair defects in the old version of the firmware and add new functions. When upgrading the firmware, the flight controller 102 can obtain the firmware header information of the new version of the firmware and match it with the current agricultural plant protection drone 100 firmware information to determine whether the current agricultural plant protection drone 100 firmware version is new Version firmware. The firmware header information may include at least one of a firmware version number and a firmware type. Therefore, when determining the current firmware version of the agricultural plant protection drone 100, the firmware version number and/or firmware type in the firmware header information may be used. determine.
本公开中的农业植保无人机一方面可以根据农业植保无人机的控制终端根据农业植保无人机的已作业信息的总量生成控制模式的选择请求指令,并通过通信装置将控制模式的选择请求指令发送给飞行控制器,以使飞行控制器选择与选择请求指令对应的具体控制模式,并根据具体控制模式控制动力装置提供飞行动力;一方面还可以通过传感器将农业植保无人机的已作业信息发送至飞行控制器,飞行控制器根据已作业信息的总量确定农业植保无人机是否自动退出限制模式,进入普通模式。On the one hand, the agricultural plant protection drone in the present disclosure can generate a control mode selection request instruction according to the total amount of the agricultural plant protection drone's operating information according to the control terminal of the agricultural plant protection drone, and the control mode The selection request instruction is sent to the flight controller, so that the flight controller selects the specific control mode corresponding to the selection request instruction, and controls the power device to provide flight power according to the specific control mode; on the one hand, the agricultural plant protection drone can also be The operational information is sent to the flight controller, and the flight controller determines whether the agricultural plant protection drone automatically exits the restricted mode and enters the normal mode based on the total amount of operational information.
图5示出了根据本公开一些实施例的农业植保无人机的结构示意图。FIG. 5 shows a schematic structural diagram of an agricultural plant protection drone according to some embodiments of the present disclosure.
参照图5所示,本公开中的农业植保无人机500可以包括:动力装置501、飞行控制器502、传感器503,具体地,动力装置501用于给农业植保无人机500提供飞行动力; 飞行控制器502,与动力装置501电连接,用于控制动力装置502调节飞行姿态;以及,传感器503,用于获取农业植保无人机500作业时的作业相关信息,传感器503与飞行控制器502通信连接,其中,飞行控制器502控制动力装置501的控制模式,包括普通模式以及限制模式,在限制模式中,飞行控制器502根据用户的作业信息,确定是否控制动力装置501提供飞行动力;飞行控制器502根据传感器503获取的作业相关信息,确定农业植保无人机500的已作业信息;飞行控制器根据已作业信息的总量,确定是否自动退出限制模式,进入普通模式。Referring to FIG. 5, the agricultural plant protection drone 500 in the present disclosure may include: a power device 501, a flight controller 502, and a sensor 503. Specifically, the power device 501 is used to provide flight power to the agricultural plant protection drone 500; The flight controller 502 is electrically connected to the power device 501, and is used to control the power device 502 to adjust the flight attitude; and, the sensor 503 is used to obtain operation-related information when the agricultural plant protection drone 500 is operating. The sensor 503 and the flight controller 502 Communication connection, in which the flight controller 502 controls the control mode of the power device 501, including normal mode and restricted mode, in the restricted mode, the flight controller 502 determines whether to control the power device 501 to provide flight power according to the user's operation information; flight The controller 502 determines the operation information of the agricultural plant protection drone 500 according to the operation-related information acquired by the sensor 503; the flight controller determines whether to automatically exit the restriction mode and enter the normal mode according to the total amount of the operation information.
在示例实施例中,传感器503可以设置于农业植保无人机500的机身上,也可以设置在飞行控制器502中,当然也可以设置在其它的合理位置,本公开对此不做具体限定。传感器503可以实时监测农业植保无人机500的作业相关信息,如作业里程、作业面积、作业时间、作业药量、飞行时间、起飞次数等,相应地,传感器503可以是各种类型的传感器,如采用距离传感器检测作业里程、作业面积,时间传感器检测作业时间、飞行时间,流量传感器检测作业药量,速度传感器检测起飞次数,当然也可以是其它种类的传感器,只要可以检测获取相应地作业信息即可。传感器503检测获得作业相关信息后,实时将作业相关信息发送至飞行控制器502,保证飞行控制器502可以根据已作业信息的总量自动切换农业植保无人机500的动力装置的控制模式。In the exemplary embodiment, the sensor 503 may be provided on the fuselage of the agricultural plant protection drone 500, or may be provided in the flight controller 502, and of course, may also be provided in other reasonable positions, which is not specifically limited in this disclosure . The sensor 503 can monitor the operation-related information of the agricultural plant protection drone 500 in real time, such as operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, etc. Accordingly, the sensor 503 can be various types of sensors, If the distance sensor is used to detect the operating mileage and operating area, the time sensor detects the operating time and flight time, the flow sensor detects the operating dose, the speed sensor detects the number of takeoffs, of course, it can also be other types of sensors, as long as they can detect and obtain the corresponding operating information That's it. After the sensor 503 detects and obtains the operation-related information, it sends the operation-related information to the flight controller 502 in real time to ensure that the flight controller 502 can automatically switch the control mode of the power plant of the agricultural plant protection drone 500 according to the total amount of the operation information.
在示例实施例中,飞行控制器502获取农业植保无人机500的已作业信息的总量后,可以将已作业信息的总量与一预设值进行比较,当农业植保无人机500的已作业信息的总量大于等于预设值时,飞行控制器502控制动力装置501的控制模式自动切换为普通模式;当农业植保无人机500的已作业信息的总量小于预设值时,飞行控制器502控制动力装置501的控制模式自动切换为限制模式。其中,已作业信息的总量为农业植保无人机500的所有历次已作业信息量之和。In an example embodiment, after the flight controller 502 obtains the total amount of the operational information of the agricultural plant protection drone 500, it may compare the total amount of the operational information with a preset value. When the total amount of work information is greater than or equal to the preset value, the flight controller 502 controls the control mode of the power device 501 to automatically switch to the normal mode; when the total amount of work information of the agricultural plant protection drone 500 is less than the preset value, The flight controller 502 controls the control mode of the power unit 501 to automatically switch to the restricted mode. Among them, the total amount of operating information is the sum of all previous operations of agricultural plant protection drone 500.
在示例实施例中,飞行控制器502可以根据实时获取的当前的已作业信息更新本地存储的已作业信息,并根据已作业信息的总量确定是否自动进入普通模式,其中飞行控制器502根据实时获取的当前的已作业信息更新本地存储的已作业信息的具体实现方式与飞行控制器102实时获取农业植保无人机100当前的已作业信息,并根据当前的已作业信息更新本地存储的已作业信息相同,此处不再赘述。In an example embodiment, the flight controller 502 may update the locally stored operational information according to the current operational information acquired in real time, and determine whether to automatically enter the normal mode according to the total amount of operational information. The specific implementation method of updating the currently stored operation information obtained by the obtained current operation information and the flight controller 102 obtain the current operation information of the agricultural plant protection drone 100 in real time, and update the locally stored operation according to the current operation information The information is the same and will not be repeated here.
在示例实施例中,飞行控制器502可以接收激活指令,并根据激活指令激活农业植保无人机500,进一步的,激活指令还可以根据与农业植保无人机500对应的秘钥进行加密发送,该秘钥具体地可以是农业植保无人机500的SN码,其中飞行控制器502接收激活指令,根据激活指令激活农业植保无人机500,及对激活指令进行加密发送的具 体实现方式与飞行控制器102接收激活指令,根据激活指令激活农业植保无人机100,及对激活指令进行加密发送的具体实现方式相同,此处不再赘述。In an example embodiment, the flight controller 502 may receive the activation instruction and activate the agricultural plant protection drone 500 according to the activation instruction. Further, the activation instruction may be encrypted and sent according to the secret key corresponding to the agricultural plant protection drone 500. The secret key may specifically be the SN code of the agricultural plant protection drone 500, in which the flight controller 502 receives the activation instruction, activates the agricultural plant protection drone 500 according to the activation instruction, and encrypts and sends the activation instruction The controller 102 receives the activation instruction, activates the agricultural plant protection drone 100 according to the activation instruction, and the specific implementation manner of encrypting and transmitting the activation instruction is the same, which will not be repeated here.
在示例实施例中,可以根据农业植保无人机500的SN码形成与农业植保无人机500对应的唯一的秘钥,这样控制终端就可以根据不同的农业植保无人机500的SN码获取农业植保无人机500中的作业信息的剩余量,并且控制终端还可以通过该秘钥与飞行控制器502进行信息交互。进一步的,根据农业植保无人机500的SN码生成秘钥,并通过秘钥对通信数据进行加密时,可以是对通信数据进行对称加密和/或非对称加密,当对加密后的通信数据进行解密时,可以采用加密算法的逆运算进行解密,本公开在此不再赘述。通过对农业植保无人机500设置与其唯一对应的秘钥,能够提高通信数据的安全性,为农业植保无人机500的正常使用提供保障。In an example embodiment, the unique key corresponding to the agricultural plant protection drone 500 can be formed according to the SN code of the agricultural plant protection drone 500, so that the control terminal can be obtained according to the SN code of different agricultural plant protection drone 500 The remaining amount of the operation information in the agricultural plant protection drone 500, and the control terminal can also exchange information with the flight controller 502 through the secret key. Further, when the secret key is generated according to the SN code of the agricultural plant protection drone 500, and the communication data is encrypted by the secret key, the communication data may be symmetrically and/or asymmetrically encrypted. When the encrypted communication data is encrypted When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here. By setting the unique key corresponding to the agricultural plant protection drone 500, the security of the communication data can be improved, and the normal use of the agricultural plant protection drone 500 can be guaranteed.
在示例实施例中,还可以定期对农业植保无人机500进行固件升级,根据固件头信息确定是否为当前农业植保无人机的固件版本,其具体实施方式与对农业植保无人机100进行固件升级,并根据固件头信息确定是否为当前农业植保无人机的固件版本的实施方式相同,因此在此不再赘述。In an example embodiment, the firmware of the agricultural plant protection drone 500 may also be periodically updated, and it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information. The specific implementation mode is the same as that of the agricultural plant protection drone 100. The implementation of the firmware upgrade and determining whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information is the same, so it will not be repeated here.
在示例实施例中,当飞行控制器502根据已作业信息的总量确定控制模式为限制模式时,飞行控制器502可以根据用户的作业信息的剩余量确定飞行控制器502是否进入锁定状态,具体地,可以将作业信息的剩余量与一预设值进行比较,当作业信息的剩余量小于等于预设值时,飞行控制器502进入锁定状态。当飞行控制器502进入锁定状态时,飞行控制器502可以控制动力装置501不产生起飞动力,即农业植保无人机500进入锁机状态;飞行控制器502也可以控制农业植保无人机500立即返航,而不进行任何的作业;抑或,飞行控制器502可以向农业植保无人机500的遥控器发送锁定的提示信息,以提示用户及时充值,保证充值金额对应的作业信息大于等于作业信息的剩余量。在飞行控制器502进入锁定状态时,飞行控制器502可以立即停止执行作业计划,只有当用户再充值,且充值金额对应的作业信息大于等于作业信息的剩余量后,才能重新执行作业计划。In an example embodiment, when the flight controller 502 determines that the control mode is the restricted mode according to the total amount of operational information, the flight controller 502 may determine whether the flight controller 502 enters the locked state according to the remaining amount of the user's operational information, specifically Ground, the remaining amount of the job information can be compared with a preset value, and when the remaining amount of the job information is less than or equal to the preset value, the flight controller 502 enters the locked state. When the flight controller 502 enters the locked state, the flight controller 502 can control the power device 501 not to generate takeoff power, that is, the agricultural plant protection drone 500 enters the locked state; the flight controller 502 can also control the agricultural plant protection drone 500 immediately Return to flight without any operation; or, the flight controller 502 can send a locked prompt message to the remote control of the agricultural plant protection drone 500 to prompt the user to recharge in time to ensure that the operation information corresponding to the recharge amount is greater than or equal to the operation information remaining. When the flight controller 502 enters the locked state, the flight controller 502 can immediately stop executing the operation plan. Only when the user recharges and the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information, the operation plan can be re-executed.
图6示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。FIG. 6 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
参照图6所示,农业植保无人机的控制方法可以包括以下步骤:Referring to FIG. 6, the control method of an agricultural plant protection drone may include the following steps:
S60:获取传感器获取的作业相关信息;S60: Obtain job-related information obtained by the sensor;
在示例实施例中,该方法的执行主体可以是飞行控制器502,传感器503可以将检测到的作业相关信息发送至飞行控制器502,其中作业相关信息可以是与用户设定的作业相关的信息,如作业里程、作业面积、作业时间、作业药量、飞行时间、起飞次数、充值金额等。传感器503可以设置于农业植保无人机500的机身上,也可以设置在飞行 控制器502中,当然也可以设置在其它的合理位置,本公开对此不做具体限定,并且传感器503可以是各种类型的传感器,用于获取多种不同的作业信息。In an example embodiment, the execution subject of the method may be the flight controller 502, and the sensor 503 may send the detected job-related information to the flight controller 502, where the job-related information may be information related to the job set by the user , Such as operating mileage, operating area, operating time, operating dose, flight time, number of takeoffs, recharge amount, etc. The sensor 503 may be provided on the fuselage of the agricultural plant protection drone 500, or it may be provided in the flight controller 502, and of course, it may also be provided in other reasonable positions. This disclosure does not specifically limit this, and the sensor 503 may be Various types of sensors are used to obtain a variety of different job information.
S62:根据所述作业相关信息,确定所述农业植保无人机的已作业信息;S62: Determine the operational information of the agricultural plant protection drone according to the operational related information;
在示例实施例中,飞行控制器502获取作业相关信息后,可以根据作业相关信息确定农业植保无人机的已作业信息,例如传感器503在第一秒向飞行控制器502发送作业信息为作业面积10亩,在第二秒向飞行控制器502发送作业信息为作业面积9亩,在第三秒向飞行控制器502发送作业信息为作业面积10亩,则飞行控制器502可以确定农业植保无人机500在三秒内的已作业面积为29亩。In an example embodiment, after the flight controller 502 obtains job-related information, it can determine the operated information of the agricultural plant protection drone according to the job-related information, for example, the sensor 503 sends the job information to the flight controller 502 as the working area in the first second 10 acres, sending job information to the flight controller 502 in the second second is 9 acres of operation area, and sending job information to the flight controller 502 in the third second is 10 acres of operation area, then the flight controller 502 can determine that agricultural plant protection is unmanned The machine 500 has an operating area of 29 acres in three seconds.
S64:根据所述已作业信息的总量,确定是否自动退出限制模式,进入普通模式;其中,在所述限制模式中,根据用户的作业信息,确定是否控制动力装置提供飞行动力。S64: Determine whether to automatically exit the restricted mode and enter the normal mode according to the total amount of the operated information; wherein, in the restricted mode, determine whether to control the power device to provide flight power according to the user's operating information.
在示例实施例中,飞行控制器502根据已作业信息的总量和一预设值的大小关系可以确定是否自动退出限制模式,进入普通模式。当已作业信息的总量大于等于预设值时,自动退出限制模式,进入普通模式;当已作业信息的总量小于预设值时,仍保持限制模式,进一步的,当飞行控制器502控制的动力装置的控制模式为限制模式时,可以获取用户的作业信息的剩余量,并根据作业信息的剩余量与另一预设值的大小关系确定是否进入锁定状态,当作业信息的剩余量小于等于另一预设值时,则进入锁定状态,可以控制动力装置不提供飞行动力,或者提供飞行动力保证农业植保无人机500返航而不进行作业。进一步的,当飞行控制器502进入锁定状态时,可以发送锁定的提示信息给农业植保无人机500的遥控器,以提醒用户进行充值。In an example embodiment, the flight controller 502 can determine whether to automatically exit the restricted mode and enter the normal mode based on the relationship between the total amount of operational information and a preset value. When the total amount of work information is greater than or equal to the preset value, it automatically exits the restriction mode and enters the normal mode; when the total amount of work information is less than the preset value, the restriction mode is still maintained. Further, when the flight controller 502 controls When the control mode of the power plant is limited mode, you can obtain the remaining amount of the user's job information, and determine whether to enter the locked state according to the size relationship between the remaining amount of the job information and another preset value, when the remaining amount of the job information is less than When it is equal to another preset value, it enters the locked state and can control the power device to not provide flight power, or provide flight power to ensure that the agricultural plant protection drone 500 returns to the sea without performing operations. Further, when the flight controller 502 enters the locked state, it may send a locked prompt message to the remote controller of the agricultural plant protection drone 500 to remind the user to recharge.
在示例实施例中,飞行控制器502可以实时获取当前的已作业信息,根据当前的已作业信息,更新本地存储的已作业信息;接着获取已作业信息的总量,并根据已作业信息的总量,确定是否自动退出限制模式,进入普通模式。该农业植保无人机的控制方法的具体实施方式与图3所示的农业植保无人机的控制方法的具体实施方式相同,在此不再赘述。In an example embodiment, the flight controller 502 can obtain the current operational information in real time, update the locally stored operational information based on the current operational information; then obtain the total amount of operational information, and then obtain the total amount of operational information based on the total operational information. Volume, determine whether to automatically exit the restricted mode and enter the normal mode. The specific implementation method of the control method of the agricultural plant protection drone is the same as the specific implementation method of the control method of the agricultural plant protection drone shown in FIG. 3, which will not be repeated here.
在示例实施例中,可以根据农业植保无人机500的SN码形成与农业植保无人机500对应的唯一的秘钥。获得秘钥后,控制终端可以根据不同的农业植保无人机500的SN码获取无人机中的作业信息的剩余量,可以根据秘钥对通信数据进行加密及/或解密,还可以通过该秘钥与飞行控制器502进行信息交互。进一步的,根据农业植保无人机500的SN码生成秘钥,并通过秘钥对通信数据进行加密时,可以是对通信数据进行对称加密和/或非对称加密,当对加密后的通信数据进行解密时,可以采用加密算法的逆运算进行解密,本公开在此不再赘述。通过对每个农业植保无人机500设置与其唯一对应的秘钥,能够提高通信数据的安全性,为农业植保无人机500的正常使用提供保障。In an example embodiment, the unique key corresponding to the agricultural plant protection drone 500 may be formed according to the SN code of the agricultural plant protection drone 500. After obtaining the secret key, the control terminal can obtain the remaining amount of the operation information in the drone according to the SN codes of different agricultural plant protection drones 500, and can encrypt and/or decrypt the communication data according to the secret key. The secret key exchanges information with the flight controller 502. Further, when the secret key is generated according to the SN code of the agricultural plant protection drone 500, and the communication data is encrypted by the secret key, the communication data may be symmetrically and/or asymmetrically encrypted. When the encrypted communication data is encrypted When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here. By setting a unique key corresponding to each agricultural plant protection drone 500, it is possible to improve the security of communication data and provide guarantee for the normal use of the agricultural plant protection drone 500.
进一步的,在激活农业植保无人机500时,农业植保无人机500的控制终端发送的激活指令可以是通过秘钥加密后发送至飞行控制器502的。Further, when the agricultural plant protection drone 500 is activated, the activation instruction sent by the control terminal of the agricultural plant protection drone 500 may be encrypted by a secret key and then sent to the flight controller 502.
图7示出了根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。7 shows a schematic flowchart of an activation method of an agricultural plant protection drone according to some embodiments of the present disclosure.
参考图7所示,在步骤S70中,飞行控制器502接收加密激活指令;具体地,用户通过用户终端设备向农业植保无人机500的控制终端发送激活请求;控制终端接收到该激活请求后,根据激活请求生成激活指令,并采用根据SN码生成的秘钥对该激活指令进行加密,然后再将加密的激活指令发送至飞行控制器502;在步骤S72中,对加密激活指令进行解密以获得激活指令,并根据激活指令激活农业植保无人机500;当飞行控制器502接收到加密的激活指令后,根据对应的秘钥对接收到的加密激活指令进行解密,再根据解密后的激活指令激活农业植保无人机500。Referring to FIG. 7, in step S70, the flight controller 502 receives the encrypted activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection drone 500 through the user terminal device; after the control terminal receives the activation request , Generate an activation instruction according to the activation request, and encrypt the activation instruction using the secret key generated according to the SN code, and then send the encrypted activation instruction to the flight controller 502; in step S72, decrypt the encrypted activation instruction to Obtain the activation instruction and activate the agricultural plant protection drone 500 according to the activation instruction; when the flight controller 502 receives the encrypted activation instruction, it decrypts the received encrypted activation instruction according to the corresponding secret key, and then according to the decrypted activation The instruction activates the agricultural plant protection drone 500.
在示例实施例中,还可以定期对农业植保无人机500进行固件升级,根据固件头信息确定是否为当前农业植保无人机的固件版本,其具体实施方式与对农业植保无人机100进行固件升级,并根据固件头信息确定是否为当前农业植保无人机的固件版本的实施方式相同,在此不再赘述。In an example embodiment, the firmware of the agricultural plant protection drone 500 may also be periodically updated, and it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information. The specific implementation mode is the same as that of the agricultural plant protection drone 100. The implementation of the firmware upgrade and determining whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information is the same, which will not be repeated here.
本公开中的农业植保无人机及农业植保无人机的控制方法能够通过飞行控制器根据具体的作业信息对农业植保无人机的动力装置的控制模式进行切换,便于农业植保无人机厂商远程控制无人机的使用权限;并且将动力装置的控制模式设置为普通模式和限制模式能够使用户在无人机的控制模式处于限制模式时,通过分次充值的方式使用农业植保无人机进行农业作业,降低了用户一次性购买的成本,并且在农业植保无人机的已作业总量达到一定值时,农业植保无人机的控制模式可以转换为普通模式,不受厂商的限制,进一步提高了用户体验。The agricultural plant protection drone and the control method of the agricultural plant protection drone in the present disclosure can switch the control mode of the power plant of the agricultural plant protection drone according to the specific operation information through the flight controller, which is convenient for agricultural plant protection drone manufacturers Remotely control the use rights of the drone; and set the control mode of the power plant to normal mode and restricted mode to enable the user to use the agricultural plant protection drone by way of recharge when the control mode of the drone is in the restricted mode Carrying out agricultural operations reduces the cost of a one-time purchase by the user, and when the total amount of agricultural plant protection drones has reached a certain value, the control mode of the agricultural plant protection drones can be converted to a normal mode, without restrictions from manufacturers. Further improve the user experience.
本领域技术人员在考虑说明书及实践这里公开的发明后,将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化,这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的,本发明的真正范围和精神由下面的权利要求指出。After considering the description and practicing the invention disclosed herein, those skilled in the art will easily think of other embodiments of the invention. This application is intended to cover any variations, uses, or adaptive changes of the present invention, which follow the general principles of the present invention and include common general knowledge or common technical means in the technical field not disclosed by the present invention . The description and examples are to be considered exemplary only, and the true scope and spirit of the invention are pointed out by the following claims.
应当理解的是,本发明并不局限于上面已经描述并在附图中示出的精确结构,并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。It should be understood that the present invention is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the invention is only limited by the appended claims.

Claims (80)

  1. 一种农业植保无人机,其特征在于,包括:An agricultural plant protection drone is characterized by including:
    动力装置,用于给所述农业植保无人机提供飞行动力;A power device for providing flight power to the agricultural plant protection drone;
    飞行控制器,与所述动力装置电连接,用于控制所述动力装置调节飞行姿态;以及A flight controller, electrically connected to the power device, for controlling the power device to adjust the flight attitude; and
    通信装置,用于与所述农业植保无人机的控制终端通信连接,所述通信装置与所述飞行控制器电连接,A communication device for communicating with the control terminal of the agricultural plant protection drone, the communication device is electrically connected with the flight controller,
    其中,所述飞行控制器控制所述动力装置的控制模式,包括普通模式以及限制模式,在所述限制模式中,所述飞行控制器根据用户的作业信息,确定是否进入锁定状态;Wherein, the flight controller controls the control mode of the power device, including a normal mode and a restricted mode. In the restricted mode, the flight controller determines whether to enter the locked state according to the user's work information;
    所述通信装置将所述控制终端发送的控制模式的选择请求指令,发送给飞行控制器;The communication device sends the control mode selection request instruction sent by the control terminal to the flight controller;
    所述飞行控制器根据所述控制模式的选择请求指令,选择所述普通模式或所述限制模式;The flight controller selects the normal mode or the restricted mode according to the selection request instruction of the control mode;
    所述飞行控制器根据选择的控制模式,控制所述动力装置提供飞行动力。The flight controller controls the power device to provide flight power according to the selected control mode.
  2. 根据权利要求1所述的农业植保无人机,其中,若所述农业植保无人机的已作业信息的总量大于等于预设值,则所述控制终端发送选择所述普通模式的指令。The agricultural plant protection drone according to claim 1, wherein if the total amount of the operated information of the agricultural plant protection drone is greater than or equal to a preset value, the control terminal sends an instruction to select the normal mode.
  3. 根据权利要求1所述的农业植保无人机,其中,在升级固件时,所述飞行控制器根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。The agricultural plant protection drone according to claim 1, wherein when the firmware is upgraded, the flight controller determines whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information of the firmware.
  4. 根据权利要求3所述的农业植保无人机,其中,所述飞行控制器根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。The agricultural plant protection drone according to claim 3, wherein the flight controller determines whether it is the current firmware version of the agricultural plant protection drone according to the firmware version number in the firmware header information of the firmware.
  5. 根据权利要求3所述的农业植保无人机,其中,所述固件头信息包括如下至少一种:固件版本号,固件类型。The agricultural plant protection drone according to claim 3, wherein the firmware header information includes at least one of the following: a firmware version number and a firmware type.
  6. 根据权利要求1所述的农业植保无人机,其中,所述控制终端根据所述农业植保无人机的SN码,获取作业信息的剩余量。The agricultural plant protection drone according to claim 1, wherein the control terminal obtains the remaining amount of operation information according to the SN code of the agricultural plant protection drone.
  7. 根据权利要求6所述的农业植保无人机,其中,所述SN码对应唯一的秘钥,所述控制终端通过所述秘钥获取所述作业信息的剩余量。The agricultural plant protection drone according to claim 6, wherein the SN code corresponds to a unique secret key, and the control terminal obtains the remaining amount of the operation information through the secret key.
  8. 根据权利要求6所述的农业植保无人机,其中,所述SN码对应唯一的秘钥,所述控制终端通过所述秘钥与所述飞行控制器进行信息交互。The agricultural plant protection drone according to claim 6, wherein the SN code corresponds to a unique secret key, and the control terminal performs information interaction with the flight controller through the secret key.
  9. 根据权利要求1所述的农业植保无人机,其中,所述飞行控制器通过一秘钥进行通信数据的加密或/及解密,所述农业植保无人机的SN码对应唯一的所述秘钥。The agricultural plant protection drone according to claim 1, wherein the flight controller encrypts and/or decrypts communication data through a secret key, and the SN code of the agricultural plant protection drone corresponds to the unique secret key.
  10. 根据权利要求1所述的农业植保无人机,其中,所述飞行控制器还用于:The agricultural plant protection drone according to claim 1, wherein the flight controller is further used to:
    实时获取当前的已作业信息;Obtain the current operation information in real time;
    根据所述当前的已作业信息,更新本地存储的已作业信息。According to the current job information, update the locally stored job information.
  11. 根据权利要求10所述的农业植保无人机,其中,所述飞行控制器还用于:The agricultural plant protection drone according to claim 10, wherein the flight controller is further used to:
    获取已作业信息的总量,其中,所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和;Obtain the total amount of operational information, wherein the total amount of operational information is the sum of all previous operational information of the agricultural plant protection drone;
    根据所述已作业信息的总量,确定是否进入所述普通模式。It is determined whether to enter the normal mode based on the total amount of the completed work information.
  12. 根据权利要求11所述的农业植保无人机,其中,若所述已作业信息的总量大于预设量,则进入所述普通模式。The agricultural plant protection drone according to claim 11, wherein if the total amount of the operated information is greater than a preset amount, the normal mode is entered.
  13. 根据权利要求1所述的农业植保无人机,其中,The agricultural plant protection drone according to claim 1, wherein
    所述控制终端接收用户的激活请求,根据所述激活请求生成激活指令;The control terminal receives an activation request from a user, and generates an activation instruction according to the activation request;
    所述飞行控制器根据所述激活指令,激活所述无人机。The flight controller activates the drone according to the activation instruction.
  14. 根据权利要求13所述的农业植保无人机,其中,所述控制终端通过与所述无人机对应的秘钥对所述激活指令进行加密发送。The agricultural plant protection drone according to claim 13, wherein the control terminal encrypts and sends the activation instruction through a secret key corresponding to the drone.
  15. 根据权利要求13所述的农业植保无人机,其中,所述飞行控制器通过对加密后的所述激活指令进行解密,并根据解密后的所述激活指令激活所述无人机。The agricultural plant protection drone according to claim 13, wherein the flight controller decrypts the encrypted activation instruction and activates the drone according to the decrypted activation instruction.
  16. 根据权利要求1所述的农业植保无人机,其中,所述用户的作业信息包括如下至少一种:作业里程,作业面积,作业时间,作业药量,飞行时间,起飞次数,充值金额。The agricultural plant protection drone according to claim 1, wherein the user's operation information includes at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, and recharge amount.
  17. 根据权利要求1所述的农业植保无人机,其中,若所述作业信息的剩余量小于等于预设值,则所述飞行控制器进入所述锁定状态。The agricultural plant protection drone according to claim 1, wherein if the remaining amount of the operation information is less than or equal to a preset value, the flight controller enters the locked state.
  18. 根据权利要求17所述的农业植保无人机,其中,在所述锁定状态时,所述飞行控制器停止控制所述农业植保无人机的作业部件进行作业。The agricultural plant protection drone according to claim 17, wherein, in the locked state, the flight controller stops controlling the operating parts of the agricultural plant protection drone to perform operations.
  19. 根据权利要求18所述的农业植保无人机,其中,所述作业部件包括如下至少一种:水泵,喷头,播撒器。The agricultural plant protection drone according to claim 18, wherein the working components include at least one of the following: a water pump, a spray head, and a spreader.
  20. 根据权利要求17所述的农业植保无人机,其中,在所述锁定状态时,所述飞行控制器控制所述动力装置不产生起飞动力;The agricultural plant protection drone according to claim 17, wherein, in the locked state, the flight controller controls the power device not to generate takeoff power;
    或者,在所述锁定状态时,所述飞行控制器控制所述农业植保无人机立即返航;Or, in the locked state, the flight controller controls the agricultural plant protection drone to return immediately;
    或者,在所述锁定状态时,所述飞行控制器发送锁定的提示信息给所述农业植保无人机的遥控器;Or, in the locked state, the flight controller sends a locked prompt message to the remote control of the agricultural plant protection drone;
    或者,其中,在所述锁定状态时,所述飞行控制器停止执行作业计划。Or, wherein, in the locked state, the flight controller stops executing the operation plan.
  21. 一种农业植保无人机的控制方法,其特征在于,所述方法包括:An agricultural plant protection drone control method, characterized in that the method includes:
    接收控制终端发送的控制模式的选择请求指令;Receive the control mode selection request command sent by the control terminal;
    根据所述控制模式的选择请求指令,选择普通模式或限制模式;According to the selection request instruction of the control mode, select the normal mode or the restricted mode;
    根据选择的控制模式,控制所述动力装置提供飞行动力。According to the selected control mode, the power device is controlled to provide flight power.
  22. 根据权利要求21所述的农业植保无人机的控制方法,其中,若所述农业植保无人机的已作业信息的总量大于等于预设值,则所述控制终端发送选择所述普通模式的指令。The control method for an agricultural plant protection drone according to claim 21, wherein if the total amount of the operated information of the agricultural plant protection drone is greater than or equal to a preset value, the control terminal sends to select the normal mode Instructions.
  23. 根据权利要求21所述的农业植保无人机的控制方法,其中,还包括:The agricultural plant protection drone control method according to claim 21, further comprising:
    在升级固件时,根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。When upgrading the firmware, it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information of the firmware.
  24. 根据权利要求23所述的农业植保无人机的控制方法,其中,还包括:The agricultural plant protection drone control method according to claim 23, further comprising:
    根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。Determine whether it is the current firmware version of the agricultural plant protection drone according to the firmware version number in the firmware header information of the firmware.
  25. 根据权利要求23所述的农业植保无人机的控制方法,其中,所述固件头信息包括如下至少一种:固件版本号,固件类型。The control method of an agricultural plant protection drone according to claim 23, wherein the firmware header information includes at least one of the following: a firmware version number and a firmware type.
  26. 根据权利要求21所述的农业植保无人机的控制方法,其中,所述控制终端根据所述农业植保无人机的SN码,获取作业信息的剩余量。The control method of an agricultural plant protection drone according to claim 21, wherein the control terminal acquires the remaining amount of the operation information according to the SN code of the agricultural plant protection drone.
  27. 根据权利要求26所述的农业植保无人机的控制方法,其中,所述SN码对应唯一的秘钥,所述控制终端通过所述秘钥获取所述作业信息的剩余量。The control method of an agricultural plant protection drone according to claim 26, wherein the SN code corresponds to a unique secret key, and the control terminal obtains the remaining amount of the operation information through the secret key.
  28. 根据权利要求26所述的农业植保无人机的控制方法,其中,所述SN码对应唯一的秘钥,通过所述秘钥与所述控制终端进行信息交互。The control method for an agricultural plant protection drone according to claim 26, wherein the SN code corresponds to a unique secret key, and information exchange is performed with the control terminal through the secret key.
  29. 根据权利要求21所述的农业植保无人机的控制方法,其中,还包括:The agricultural plant protection drone control method according to claim 21, further comprising:
    通过一秘钥进行通信数据的加密或/及解密,所述农业植保无人机的SN码对应唯一的所述秘钥。The communication data is encrypted or/and decrypted through a secret key, and the SN code of the agricultural plant protection drone corresponds to the unique secret key.
  30. 根据权利要求21所述的农业植保无人机的控制方法,其中,还包括:The agricultural plant protection drone control method according to claim 21, further comprising:
    实时获取当前的已作业信息;Obtain the current operation information in real time;
    根据所述当前的已作业信息,更新本地存储的已作业信息。According to the current job information, update the locally stored job information.
  31. 根据权利要求30所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 30, further comprising:
    获取已作业信息的总量,其中,所述已作业信息的总量为所述农业植保无人 机的所有历次已作业信息量之和;Obtain the total amount of work information, wherein the total amount of work information is the sum of all previous work information of the agricultural plant protection drone;
    根据所述已作业信息的总量,确定是否进入所述普通模式。It is determined whether to enter the normal mode based on the total amount of the completed work information.
  32. 根据权利要求31所述的农业植保无人机的控制方法,其中,若所述已作业信息的总量大于预设量,则进入所述普通模式。The control method for an agricultural plant protection drone according to claim 31, wherein if the total amount of the operated information is greater than a preset amount, the normal mode is entered.
  33. 根据权利要求21所述的农业植保无人机的控制方法,其中,The control method of an agricultural plant protection drone according to claim 21, wherein
    接收激活指令;Receive activation instructions;
    根据所述激活指令,激活所述无人机。According to the activation instruction, activate the drone.
  34. 根据权利要求33所述的农业植保无人机的控制方法,其中,所述控制终端根据用户的激活请求生成所述激活指令,通过与所述无人机对应的秘钥对所述激活指令进行加密发送。The agricultural plant protection drone control method according to claim 33, wherein the control terminal generates the activation instruction according to a user's activation request, and performs the activation instruction through a secret key corresponding to the drone Send encrypted.
  35. 根据权利要求33所述的农业植保无人机的控制方法,其中,还包括:The agricultural plant protection drone control method according to claim 33, further comprising:
    通过对加密后的所述激活指令进行解密,并根据解密后的所述激活指令激活所述无人机。By decrypting the encrypted activation instruction, and activating the drone according to the decrypted activation instruction.
  36. 根据权利要求26所述的农业植保无人机的控制方法,其中,所述作业信息包括如下至少一种:作业里程,作业面积,作业时间,作业药量,飞行时间,起飞次数,充值金额。The agricultural plant protection drone control method according to claim 26, wherein the operation information includes at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, and recharge amount.
  37. 根据权利要求26所述的农业植保无人机的控制方法,其中,若所述作业信息的剩余量小于等于预设值,则进入锁定状态。The control method for an agricultural plant protection drone according to claim 26, wherein if the remaining amount of the operation information is less than or equal to a preset value, the locked state is entered.
  38. 根据权利要求37所述的农业植保无人机的控制方法,其中,在所述锁定状态时,停止控制所述农业植保无人机的作业部件进行作业。The control method for an agricultural plant protection drone according to claim 37, wherein, in the locked state, the control of the operation parts of the agricultural plant protection drone is stopped.
  39. 根据权利要求38所述的农业植保无人机的控制方法,其中,所述作业部件包括如下至少一种:水泵,喷头,播撒器。The control method of an agricultural plant protection drone according to claim 38, wherein the working part includes at least one of the following: a water pump, a spray head, and a spreader.
  40. 根据权利要求37所述的农业植保无人机的控制方法,其中,在所述锁定状态时,控制所述动力装置不产生起飞动力;The control method of an agricultural plant protection drone according to claim 37, wherein, in the locked state, the power device is controlled not to generate take-off power;
    或者,在所述锁定状态时,控制所述农业植保无人机立即返航;Or, in the locked state, control the agricultural plant protection drone to return to the ship immediately;
    或者,在所述锁定状态时,发送锁定的提示信息给所述农业植保无人机的遥控器;Or, in the locked state, send a locked prompt message to the remote control of the agricultural plant protection drone;
    或者,其中,在所述锁定状态时,停止执行作业计划。Or, wherein, in the locked state, execution of the job plan is stopped.
  41. 一种农业植保无人机,其特征在于,包括:An agricultural plant protection drone is characterized by including:
    动力装置,用于给所述农业植保无人机提供飞行动力;A power device for providing flight power to the agricultural plant protection drone;
    飞行控制器,与所述动力装置电连接,用于控制所述动力装置调节飞行姿态;以及A flight controller, electrically connected to the power device, for controlling the power device to adjust the flight attitude; and
    传感器,用于获取所述农业植保无人机作业时的作业相关信息,所述传感器与所述飞行控制器通信连接,A sensor is used to obtain operation-related information when the agricultural plant protection drone is operating, the sensor is in communication connection with the flight controller,
    其中,所述飞行控制器控制所述动力装置的控制模式,包括普通模式以及限制模式,在所述限制模式中,所述飞行控制器根据用户的作业信息,确定是否控制所述动力装置提供飞行动力;Wherein, the flight controller controls the control mode of the power device, including a normal mode and a restricted mode. In the restricted mode, the flight controller determines whether to control the power device to provide flight according to the user's operation information power;
    所述飞行控制器根据所述传感器获取的作业相关信息,确定所述农业植保无人机的已作业信息;The flight controller determines the operation information of the agricultural plant protection drone according to the operation related information acquired by the sensor;
    所述飞行控制器根据所述已作业信息的总量,确定是否自动退出所述限制模式,进入普通模式。The flight controller determines whether to automatically exit the restricted mode and enter the normal mode based on the total amount of the operated information.
  42. 根据权利要求41所述的农业植保无人机,其中,若所述已作业信息的总量大于等于预设值,则自动进入所述普通模式。The agricultural plant protection drone according to claim 41, wherein if the total amount of the operated information is greater than or equal to a preset value, the normal mode is automatically entered.
  43. 根据权利要求41所述的农业植保无人机,其中,在升级固件时,所述飞行控制器根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。The agricultural plant protection drone according to claim 41, wherein, when upgrading the firmware, the flight controller determines whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information of the firmware.
  44. 根据权利要求43所述的农业植保无人机,其中,所述飞行控制器根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。The agricultural plant protection drone according to claim 43, wherein the flight controller determines whether it is the current firmware version of the agricultural plant protection drone according to the firmware version number in the firmware header information of the firmware.
  45. 根据权利要求43所述的农业植保无人机,其中,所述固件头信息包括如下至少一种:固件版本号,固件类型。The agricultural plant protection drone according to claim 43, wherein the firmware header information includes at least one of the following: a firmware version number and a firmware type.
  46. 根据权利要求41所述的农业植保无人机,其中,所述农业植保无人机的控制终端根据所述农业植保无人机的SN码,获取作业信息的剩余量。The agricultural plant protection drone according to claim 41, wherein the control terminal of the agricultural plant protection drone obtains the remaining amount of the operation information according to the SN code of the agricultural plant protection drone.
  47. 根据权利要求46所述的农业植保无人机,其中,所述SN码对应唯一的秘钥,所述控制终端通过所述秘钥获取所述作业信息的剩余量。The agricultural plant protection drone according to claim 46, wherein the SN code corresponds to a unique secret key, and the control terminal obtains the remaining amount of the operation information through the secret key.
  48. 根据权利要求46所述的农业植保无人机,其中,所述SN码对应唯一的秘钥,所述控制终端通过所述秘钥与所述飞行控制器进行信息交互。The agricultural plant protection drone according to claim 46, wherein the SN code corresponds to a unique secret key, and the control terminal performs information interaction with the flight controller through the secret key.
  49. 根据权利要求41所述的农业植保无人机,其中,所述飞行控制器通过一秘钥进行通信数据的加密或/及解密,所述农业植保无人机的SN码对应唯一的所述秘钥。The agricultural plant protection drone according to claim 41, wherein the flight controller encrypts and/or decrypts communication data through a secret key, and the SN code of the agricultural plant protection drone corresponds to the unique secret key.
  50. 根据权利要求41所述的农业植保无人机,其中,所述飞行控制器还用于:The agricultural plant protection drone according to claim 41, wherein the flight controller is further used to:
    实时获取当前的已作业信息;Obtain the current operation information in real time;
    根据所述当前的已作业信息,更新本地存储的已作业信息。According to the current job information, update the locally stored job information.
  51. 根据权利要求50所述的农业植保无人机,其中,所述飞行控制器还用于:The agricultural plant protection drone according to claim 50, wherein the flight controller is further used to:
    获取已作业信息的总量,其中,所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和;Obtain the total amount of operational information, wherein the total amount of operational information is the sum of all previous operational information of the agricultural plant protection drone;
    根据所述已作业信息的总量,确定是否自动进入所述普通模式。According to the total amount of the completed work information, it is determined whether to automatically enter the normal mode.
  52. 根据权利要求51所述的农业植保无人机,其中,若所述已作业信息的总量大于预设量,则自动进入所述普通模式。The agricultural plant protection drone according to claim 51, wherein if the total amount of the operated information is greater than a preset amount, the normal mode is automatically entered.
  53. 根据权利要求41所述的农业植保无人机,其中,The agricultural plant protection drone according to claim 41, wherein
    所述农业植保无人机的控制终端接收用户的激活请求,根据所述激活请求生成激活指令;The control terminal of the agricultural plant protection drone receives the user's activation request, and generates an activation instruction according to the activation request;
    所述飞行控制器根据所述激活指令,激活所述无人机。The flight controller activates the drone according to the activation instruction.
  54. 根据权利要求53所述的农业植保无人机,其中,所述控制终端通过与所述无人机对应的秘钥对所述激活指令进行加密发送。The agricultural plant protection drone according to claim 53, wherein the control terminal encrypts and sends the activation instruction by using a secret key corresponding to the drone.
  55. 根据权利要求53所述的农业植保无人机,其中,所述飞行控制器通过对加密后的所述激活指令进行解密,并根据解密后的所述激活指令激活所述无人机。The agricultural plant protection drone according to claim 53, wherein the flight controller decrypts the encrypted activation instruction and activates the drone according to the decrypted activation instruction.
  56. 根据权利要求41所述的农业植保无人机,其中,所述作业信息包括如下至少一种:作业里程,作业面积,作业时间,作业药量,飞行时间,起飞次数,充值金额。The agricultural plant protection drone according to claim 41, wherein the operation information includes at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, and recharge amount.
  57. 根据权利要求41所述的农业植保无人机,其中,若所述作业信息的剩余量小于等于预设值,则进入锁定状态。The agricultural plant protection drone according to claim 41, wherein if the remaining amount of the operation information is less than or equal to a preset value, the locked state is entered.
  58. 根据权利要求57所述的农业植保无人机,其中,在所述锁定状态时,所述飞行控制器停止控制所述农业植保无人机的作业部件进行作业。The agricultural plant protection drone according to claim 57, wherein, in the locked state, the flight controller stops controlling the operating parts of the agricultural plant protection drone to perform operations.
  59. 根据权利要求58所述的农业植保无人机,其中,所述作业部件包括如下至少一种:水泵,喷头,播撒器。The agricultural plant protection drone according to claim 58, wherein the working component includes at least one of the following: a water pump, a spray head, and a spreader.
  60. 根据权利要求57所述的农业植保无人机,其中,在所述锁定状态时,控制所述动力装置不产生起飞动力;The agricultural plant protection drone according to claim 57, wherein, in the locked state, the power device is controlled not to generate take-off power;
    或者,在所述锁定状态时,控制所述农业植保无人机立即返航;Or, in the locked state, control the agricultural plant protection drone to return to the ship immediately;
    或者,在所述锁定状态时,发送锁定的提示信息给所述农业植保无人机的遥控器;Or, in the locked state, send a locked prompt message to the remote control of the agricultural plant protection drone;
    或者,其中,在所述锁定状态时,停止执行作业计划。Or, wherein, in the locked state, execution of the job plan is stopped.
  61. 一种农业植保无人机的控制方法,其特征在于,所述方法包括:An agricultural plant protection drone control method, characterized in that the method includes:
    获取传感器获取的作业相关信息;Obtain job-related information obtained by sensors;
    根据所述作业相关信息,确定所述农业植保无人机的已作业信息;According to the operation-related information, determine the operation information of the agricultural plant protection drone;
    根据所述已作业信息的总量,确定是否自动退出限制模式,进入普通模式; 其中,在所述限制模式中,根据用户的作业信息,确定是否控制动力装置提供飞行动力。According to the total amount of the operational information, it is determined whether to automatically exit the restricted mode and enter the normal mode; wherein, in the restricted mode, it is determined whether to control the power device to provide flight power based on the user's operational information.
  62. 根据权利要求61所述的农业植保无人机的控制方法,其中,若所述已作业信息的总量大于等于预设值,则自动进入所述普通模式。The control method of an agricultural plant protection drone according to claim 61, wherein if the total amount of the operated information is greater than or equal to a preset value, the normal mode is automatically entered.
  63. 根据权利要求61所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 61, further comprising:
    在升级固件时,根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。When upgrading the firmware, it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information of the firmware.
  64. 根据权利要求63所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 63, further comprising:
    根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。Determine whether it is the current firmware version of the agricultural plant protection drone according to the firmware version number in the firmware header information of the firmware.
  65. 根据权利要求63所述的农业植保无人机的控制方法,其中,所述固件头信息包括如下至少一种:固件版本号,固件类型。The control method of an agricultural plant protection drone according to claim 63, wherein the firmware header information includes at least one of the following: a firmware version number and a firmware type.
  66. 根据权利要求61所述的农业植保无人机的控制方法,其中,所述农业植保无人机的控制终端根据所述农业植保无人机的SN码,获取作业信息的剩余量。The control method of an agricultural plant protection drone according to claim 61, wherein the control terminal of the agricultural plant protection drone obtains the remaining amount of the operation information according to the SN code of the agricultural plant protection drone.
  67. 根据权利要求66所述的农业植保无人机的控制方法,其中,所述SN码对应唯一的秘钥,所述控制终端所述秘钥获取所述作业信息的剩余量。The control method of an agricultural plant protection drone according to claim 66, wherein the SN code corresponds to a unique secret key, and the secret key of the control terminal acquires the remaining amount of the operation information.
  68. 根据权利要求66所述的农业植保无人机的控制方法,其中,所述SN码对应唯一的秘钥,通过所述秘钥与所述控制终端进行信息交互。The control method for an agricultural plant protection drone according to claim 66, wherein the SN code corresponds to a unique secret key, and information exchange is performed with the control terminal through the secret key.
  69. 根据权利要求61所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 61, further comprising:
    通过一秘钥进行通信数据的加密或/及解密,所述农业植保无人机的SN码对应唯一的所述秘钥。The communication data is encrypted or/and decrypted by a secret key, and the SN code of the agricultural plant protection drone corresponds to the unique secret key.
  70. 根据权利要求61所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 61, further comprising:
    实时获取当前的已作业信息;Obtain the current operation information in real time;
    根据所述当前的已作业信息,更新本地存储的已作业信息。According to the current job information, update the locally stored job information.
  71. 根据权利要求70所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 70, further comprising:
    获取已作业信息的总量,其中,所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和;Obtain the total amount of operational information, wherein the total amount of operational information is the sum of all previous operational information of the agricultural plant protection drone;
    根据所述已作业信息的总量,确定是否自动进入所述普通模式。It is determined whether to automatically enter the normal mode according to the total amount of the completed work information.
  72. 根据权利要求71所述的农业植保无人机的控制方法,其中,若所述已作业信息的总量大于预设量,则自动进入所述普通模式。The control method for an agricultural plant protection drone according to claim 71, wherein if the total amount of the operated information is greater than a preset amount, the normal mode is automatically entered.
  73. 根据权利要求61所述的农业植保无人机的控制方法,其中,The control method of an agricultural plant protection drone according to claim 61, wherein
    接收激活指令;Receive activation instructions;
    根据所述激活指令,激活所述无人机。According to the activation instruction, activate the drone.
  74. 根据权利要求73所述的农业植保无人机的控制方法,其中,所述农业植保无人机的控制终端根据用户的激活请求生成所述激活指令,通过与所述无人机对应的秘钥对所述激活指令进行加密发送。The control method of an agricultural plant protection drone according to claim 73, wherein the control terminal of the agricultural plant protection drone generates the activation instruction according to the user's activation request, and passes the secret key corresponding to the drone Encrypting and sending the activation instruction.
  75. 根据权利要求73所述的农业植保无人机的控制方法,其中,还包括:The control method of an agricultural plant protection drone according to claim 73, further comprising:
    通过对加密后的所述激活指令进行解密,并根据解密后的所述激活指令激活所述无人机。By decrypting the encrypted activation instruction, and activating the drone according to the decrypted activation instruction.
  76. 根据权利要求61所述的农业植保无人机的控制方法,其中,所述用户作业信息包括如下至少一种:作业里程,作业面积,作业时间,作业药量,飞行时间,起飞次数,充值金额。The method for controlling an agricultural plant protection drone according to claim 61, wherein the user operation information includes at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, and recharge amount .
  77. 根据权利要求61所述的农业植保无人机的控制方法,其中,若所述作业信息的剩余量小于等于预设值,则进入锁定状态。The control method for an agricultural plant protection drone according to claim 61, wherein if the remaining amount of the operation information is less than or equal to a preset value, the locked state is entered.
  78. 根据权利要求77所述的农业植保无人机的控制方法,其中,在所述锁定状态时,停止控制所述农业植保无人机的作业部件进行作业。The control method of an agricultural plant protection drone according to claim 77, wherein, in the locked state, the control of the operation parts of the agricultural plant protection drone is stopped.
  79. 根据权利要求78所述的农业植保无人机的控制方法,其中,所述作业部件包括如下至少一种:水泵,喷头,播撒器。The control method of an agricultural plant protection drone according to claim 78, wherein the working part includes at least one of the following: a water pump, a spray head, and a spreader.
  80. 根据权利要求77所述的农业植保无人机的控制方法,其中,在所述锁定状态时,控制所述动力装置不产生起飞动力;The control method of an agricultural plant protection drone according to claim 77, wherein, in the locked state, the power device is controlled not to generate take-off power;
    或者,在所述锁定状态时,控制所述农业植保无人机立即返航;Or, in the locked state, control the agricultural plant protection drone to return to the ship immediately;
    或者,在所述锁定状态时,发送锁定的提示信息给所述农业植保无人机的遥控器;Or, in the locked state, send a locked prompt message to the remote control of the agricultural plant protection drone;
    或者,其中,在所述锁定状态时,停止执行作业计划。Or, wherein, in the locked state, execution of the job plan is stopped.
PCT/CN2018/119235 2018-12-04 2018-12-04 Agricultural plant protection unmanned aerial vehicle and control method for agricultural plant protection unmanned aerial vehicle WO2020113443A1 (en)

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