WO2021232407A1

WO2021232407A1 - Spraying control method and apparatus

Info

Publication number: WO2021232407A1
Application number: PCT/CN2020/091809
Authority: WO
Inventors: 贾向华; 王璐
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-22
Filing date: 2020-05-22
Publication date: 2021-11-25
Also published as: CN113939452B; CN113939452A

Abstract

A spraying control method and apparatus. The method comprises: sending spraying location information to a remote control terminal (140) of an unmanned aerial vehicle; receiving spraying parameters determined by the remote control terminal (140) on the basis of the spraying location information; and, on the basis of the spraying parameters, issuing a spraying control command; the spraying parameters comprise a spraying amount determined by the remote control terminal (140) on the basis of a prescription diagram and the spraying location information, the prescription diagram comprising the corresponding relationship between the spraying location information and the spraying amount. The technical problem in the prior art of being unable to precisely control spraying of a spraying medium is thereby solved.

Description

Spraying control method and device

Technical field

This application relates to the field of drone control, and specifically, to a spraying control method and device.

Background technique

With the continuous development of intelligence in the field of drones, drones are taking on more and more tasks for people. Industries such as high-definition aerial photography, agricultural production, long-distance delivery, military defense and other industries will use drone technology. When man-machines are used in agricultural production, they often use the UAV's strong spatial mobility and resolution capabilities to spray crops, such as spraying pesticides, sowing seeds, and irrigating plants.

At present, the operation plan of the plant protection machine is that the user sets the fixed parameters such as the amount per acre and the flying speed to start the spraying/sowing operation, that is, using the mechanical and linear spraying execution method to spray the crops in a certain area, but this method cannot be targeted. Targeted spraying operations are carried out on the characteristics of crop growth and health status, which leads to the lack of focus in the spraying process, low utilization of spraying media (such as pesticides, seeds, water, etc.), and the crops used by the spraying media often produce excessive spraying and waste Or too little or insufficient medicine.

In view of the above-mentioned problems, no effective solutions have yet been proposed.

Summary of the invention

The embodiments of the present application provide a spraying control method and device, which can solve the technical problem that the spraying of the spraying medium cannot be precisely controlled in the prior art.

In the first aspect, an embodiment of the present application provides a spraying control method, which is applied to a flight controller of an unmanned aerial vehicle, including:

Send the spraying position information to the remote control terminal of the drone;

Receiving spraying parameters determined by the remote control terminal according to the spraying position information;

Issuing spraying control instructions according to the spraying parameters;

The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount.

In the second aspect, an embodiment of the present application provides a spraying control method, which is applied to a remote control terminal of a drone, and the method includes:

Acquiring a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount;

Obtain the spraying position information of the drone;

Determine the spray amount corresponding to the spray position information according to the spray position information and the prescription map;

Sending the spraying parameters including the spraying amount to the flight controller of the drone;

Display the spraying operation information of the drone,

The spraying operation information is the spraying operation information related to the spraying control instruction generated by the flight controller of the drone according to the spraying amount.

In a third aspect, an embodiment of the present application also provides a spraying control device, which is applied to a flight controller of an unmanned aerial vehicle, and the device includes:

The sending module is used to send the spraying position information to the remote control terminal of the drone;

A receiving module, configured to receive spraying parameters determined by the remote control terminal according to the spraying position information;

An instruction module for issuing spraying control instructions according to the spraying parameters;

In a fourth aspect, an embodiment of the present application also provides a spraying control device, which is applied to a remote control terminal of a drone, and the device includes:

An obtaining module for obtaining a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount;

The acquisition module is also used to acquire the spraying position information of the drone;

A generating module, configured to determine the spray amount corresponding to the spray position information according to the spray position information and the prescription map;

A sending module for sending spraying parameters including the spraying amount to the flight controller of the drone;

A display module for displaying the spraying operation information of the drone;

In a fifth aspect, the present application also provides a computer program product including instructions, which when the instructions are run on a computer, cause the computer to execute the spraying control method.

In a sixth aspect, the present application also provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the above spraying control method.

In a seventh aspect, an embodiment of the present application also provides a computing processing device, including:

A memory in which computer-readable codes are stored; one or more processors, when the computer-readable codes are executed by the one or more processors, the computing processing device executes the aforementioned method.

In an eighth aspect, an embodiment of the present application also provides an unmanned aerial vehicle, including an unmanned aerial vehicle and a remote control terminal; the unmanned aerial vehicle includes a flight controller; the flight controller can communicate with the remote control terminal transmission;

The flight controller is used to perform the following operations:

Sending the spraying position information to the remote control terminal;

Issuing spraying control instructions according to the spraying parameters;

In a ninth aspect, an embodiment of the present application also provides an unmanned aerial vehicle, including a flight controller, which is configured to receive a signal from a remote control terminal and perform the following operations:

Sending the spraying position information to the remote control terminal;

Issuing spraying control instructions according to the spraying parameters;

The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount. .

In the embodiment of this application, the prescription map information generated by the flight controller is used to calculate the spraying volume at the location of the drone, and the method of accurately controlling the spraying to eliminate the delay response is sent to the drone, so that the unmanned The way the machine performs related spraying tasks, by precisely controlling the spraying amount of each location information, achieves the purpose of scientifically and accurately spraying different crops, thereby solving the problem of spraying media that cannot be precisely controlled in the prior art. The technical problem of spraying.

Description of the drawings

Fig. 1 is a schematic architecture diagram of an unmanned aerial system of the present application;

Fig. 2 is a flowchart of a spraying control method according to an embodiment of the present application;

Fig. 3 is a flowchart of an optional spraying control method according to an embodiment of the present application;

Fig. 4 is a structural block diagram of a spraying control device according to an embodiment of the present application;

Fig. 5 is a structural block diagram of an optional spraying control device according to an embodiment of the present application;

Fig. 6 is a working flow chart of a spraying control method in use according to an embodiment of the present application.

Fig. 7 schematically shows a block diagram of a computing processing device for executing the method according to the present application; and

Fig. 8 schematically shows a storage unit for holding or carrying program codes for implementing the method according to the present application.

Specific embodiment

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

It should be noted that the terms “first” and “second” in the specification and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. The spraying control method of the embodiment of the present application is applied to the unmanned aerial system of FIG. 1. The following is an example of an unmanned aerial system.

The unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a display device 130 and a remote control terminal 140. The unmanned aerial vehicle may be an unmanned aerial vehicle, which may include a power system 150, a flight control system 160, a frame (not shown), and a spraying system 170. The power system 150 and the flight control system 160 may be arranged on the frame. The UAV 110 can wirelessly communicate with the remote control terminal 140 and the display device 130. In some embodiments, the display device 130 and the remote control terminal 140 may be integrated, or may be a computing and processing device installed with an application, such as a remote control or a mobile phone.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands.

The power system 150 may include one or more electronic speed governors (referred to as ESCs) 151 and one or more motors 152 electrically connected to the ESC 151, and the motors 152 may be arranged on the arm of the UAV 110; The electronic speed governor 151 is used to receive the driving signal generated by the flight control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. The drive current can also be referred to as the ESC current. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to realize one or more degrees of freedom of movement. It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the position and attitude information of the UAV, that is, the position information and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110. For example, the flight of the unmanned aerial vehicle 110 can be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the unmanned aerial vehicle 110 according to pre-programmed program instructions, and can also control the unmanned aerial vehicle 110 by responding to one or more control instructions from the remote control terminal 140.

The display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the position and attitude information of the unmanned aerial vehicle 110. In addition, the image taken by the imaging device and the like may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the remote control terminal 140.

The remote control terminal 140 is located on the ground end of the unmanned aerial vehicle 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote control of the unmanned aerial vehicle 110. As mentioned above, in some embodiments, the display device 130 and the remote control terminal 140 may be integrated, or may be a computing processing device installed with an application, such as a remote control or a mobile phone of a user on the ground.

The spraying system 170 may receive instructions from the flight controller 161 to spray the sprayed objects. The spraying medium to be sprayed may include pesticides, water, seeds, etc., and the spraying objects may include plants, such as crops.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application. In related technologies, when drones are used for spraying tasks in the agricultural field, the total amount of medium to be sprayed is often obtained, and the spraying amount per unit area or unit distance is calculated based on the total amount and spray area. The spraying volume data is generated in the form of instructions and transmitted to the spraying device of the drone, so that the drone can spray evenly over the crops that need to be sprayed.

Therefore, the drone spraying process in related technologies cannot adjust the spraying volume of drones based on information such as crop growth. That is, related technologies can only spray the spraying medium on the crops to be sprayed, and cannot achieve accuracy. , Purposeful control of spraying volume, it is impossible to efficiently apply the limited spraying medium to the crops in need.

The embodiment of the application provides an embodiment of a spraying control method. It should be noted that the steps shown in the flowchart of the figure can be executed in a computer system such as a set of computer-executable instructions. The figure shows a logical sequence, but in some cases, the steps shown or described can be performed in a different order than here.

Fig. 2 is a flowchart of a spraying control method according to an embodiment of the present application. As shown in Fig. 2, the method is applied to a flight controller of an unmanned aerial vehicle and includes:

S101: Send the spraying position information to the remote control terminal of the drone;

S102, receiving spraying parameters determined by the remote control terminal according to the spraying position information;

S103, issuing a spraying control instruction according to the spraying parameter;

These steps are described in detail below.

In this step, the execution body, such as the aforementioned flight controller 161 of the drone, sends the spraying position information to the remote control terminal 140 of the drone. The spraying position information may include, for example, the latitude, longitude and altitude of the drone, or information determined by the GPS positioning system fed back by the drone's sensing system.

In this step, the flight controller of the drone obtains at least one spraying position information of the drone in real time, for example, the spraying position information at the current moment. When the drone is flying, in order to effectively complete the spraying operation, it needs to follow a certain flight route or flight trajectory. There is certain location information, which can be three-dimensional coordinate values composed of longitude, latitude, and altitude.

For example, the drone flies according to flight route A, and the drone's flight controller is equipped with a GPS global positioning system. Through the GPS positioning system, the real-time position of the drone can be transmitted to the drone's flight controller for processing. At the same time, the flight altitude of the drone is measured through the altimeter and transmitted to the processor of the drone's flight controller. The processor combines the data transmitted by the GPS and the altimeter to form (x, y, z) Coordinates, which indicate the current flight position of the UAV, including coordinate information and flight height, provide conditions for subsequent spraying control.

The spraying parameters include the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, the prescription map includes the correspondence between spraying position information and the spraying amount, and the spraying amount is based on the growth of the sprayed object. The information is OK.

The prescription graph is an information graph that expresses the growth information of the sprayed object, such as crop growth information, planting density, health and other crop information. The graph can be in the form of a data table or a histogram. In the embodiment of this application, the prescription map is produced by taking pictures, surveying and mapping of the spraying area to be executed in the early stage of the drone, and the machine learning model is used to generate the growth information of the area, such as crop growth information, so as to be used in the embodiment of this application. The prescription map is used to carry out the precise control task of drone spraying. Among them, the prescription map may only be a part of a certain area, that is, it only represents the growth information of the crops in the area where the user needs to spray, and outside this area, it is expressed in the form of ordinary map data.

The growth information can also be a kind of characteristic information that shows the extent to which the spraying object is suitable for planting crops, including, when the spraying object is land, the pH information of the land and paddy field, the nitrogen, phosphorus and potassium content and other information that characterizes whether it is suitable for crop growth, here Not limited.

The health of the crops in the prescription map can be the percentage of the health of the crops to be identified relative to the health of the healthy crops, which can be directly output by the machine learning model after extensive training.

In addition, the prescription map can be obtained from a cloud server or a prescription map data platform through a remote communication protocol, for example, sent to a remote control terminal, or sent to a flight controller. The drone needs to be connected to the network in real time when acquiring it. You can also pre-download the prescription map of the spraying task area required when the drone is in an area with a network connection, so that even if the drone is offline during the flight The prescription map analysis and application can also be carried out smoothly.

In other embodiments, the information provided by the prescription map also includes the amount of spraying corresponding to different spraying positions. Volume), or directly provide the spray percentage of the area (for example, spray volume). The spray volume can be determined by one or more of plants, such as crop growth, planting density, health and other information.

For example, for the crop area specified by the user, the prescription map generated by the drone in the embodiment of the present application includes three crop areas A, B, and C. The densities of these three areas are 100, 250, and 200, respectively. , The prescription map also provides the corresponding spraying amount, that is, the spraying percentage information: A area 20%, B area 50%, C area 30%, that is, the total amount of spray carried by the drone will act on the corresponding crops according to the above percentage. area. Among them, A, B, and C are spraying position information, that is, spraying position information, and 20%, 50%, and 30% are spraying percentages.

In addition, in this embodiment of the application, the flight controller of the drone can also provide a flight route or flight curve to the remote control terminal according to user needs, where the flight route or flight curve is used to show that the drone performs this spraying. The flight situation and the area to pass during the mission.

In this step, since the prescription map includes the spraying position information (that is, the set spraying position) and the corresponding spraying amount, for example, the spraying amount required at point A in the crop area to be sprayed is X, the drone The flight controller can then use the real-time acquisition of the drone's spraying position information to determine the spraying parameters corresponding to the spraying position information through the above-mentioned corresponding relationship.

According to the embodiment of the present application, the spraying parameters may also include weather index and temperature index, such as wind, rain, day and night, surface temperature and drone body temperature, etc., spraying parameters may also include the aforementioned spraying system of the drone. At least one of the response time, the flying speed of the drone, the flying height of the drone, and the spraying pressure. Through the determination of these spraying parameters, the spraying accuracy of UAV spraying can be further comprehensively improved. For another example, when there is wind level 4 in the weather index, when the drone is spraying, it needs to calculate the wind and wind direction into the flying speed of the drone, so that the subsequent control of the spray response time can be more accurate. Unmistakable.

S103: Send a spraying control instruction according to the spraying parameter.

Specifically, after the flight controller of the drone obtains the spraying parameters, the processor of the flight controller generates spraying control instructions according to the spraying parameters.

For example, when the spraying position information of the drone's flight controller is the A coordinate, and the corresponding spraying parameter is a, the processor of the flight controller will generate the spraying parameter as a computer with (A, a) as the instruction execution element Program control instruction. After receiving the instruction, the spraying system of the drone will spray a certain amount according to the a element to complete the precise control of the spraying amount.

Optionally, the step of issuing a spraying control command according to the spraying parameters includes: sending a spraying control command in combination with the response time of the spraying system and the flight speed of the drone.

Specifically, because the drone needs to be sprayed during the flight, and the drone flight has a certain speed, and the drone's flight controller also has a certain system response time, so in an optional embodiment , The response time of the spraying system and the flight speed of the drone can be considered comprehensively to generate the spraying control command of the drone.

In the embodiment of the present application, in order to generate the final spray control command spray_cmd, the processor of the drone's flight controller is required to combine the drone's flight speed v and the response time τ of the spray system at this time, and the spray amount f Perform proportional integration (where f=m*P, the total amount of spraying set by the user is m, and at the same time interact with the drone remote control terminal to obtain the spraying flow rate of the current spraying position as P), and generate a spraying system control command after control spray_cmd, download the control command to the spray system to control the spray flow rate.

In the embodiment of this application, the flying speed v of the drone and the response time τ of the spraying system are the error adjustment values, and the spraying amount f can be adjusted by the method of proportional integration, that is, the error correction of the spraying amount f is performed to exclude the above two Inaccurate instruction execution caused by error factors.

The embodiment of this application uses v, τ, f as the system input, and integrates v and τ to adjust the output value of f, that is, to eliminate the steady-state error of f, that is to say, by combining the flight speed of the drone and the system response The time factor is combined with the spraying amount to accurately calculate the spraying amount that is more in line with the actual flight situation, and achieve the technical effect of precise control and improved spraying efficiency.

In an optional embodiment, the spraying control method is used to control the spraying of a spraying medium, and the spraying medium includes at least one of pesticides, water, and seeds.

In some cases, the spraying medium includes at least one of pesticides, water, and seeds. The spray object may be plants, such as crops. In other cases, the sprayed objects may also be land or paddy fields. For example, when the sprayed medium is seeds, for example, when a drone is sowing seeds, the sprayed objects may be land or paddy fields.

In an optional embodiment, in the prescription map, the prescription map further includes characterization information that characterizes the growth information of the sprayed object, and the growth information of the sprayed object includes multiple levels, and the multiple levels pass different levels. The characterization information is displayed. The characterization information may include at least one of color, data, shape, and text.

Specifically, the prescription map includes the characterization information of the crops in the area specified by the user, such as color, data, shape, text, density, height and other information. The characterization information of the prescription map is used to display the growth information of the sprayed object, such as crop growth. The growth information is, for example, the result of the normalization processing of different dimensions, such as the growth situation, the planting density, and the health degree.

In some cases, the characterization information in the prescription map represents the growth of crops, and also provides prerequisite parameters for accurate calculation and control of the spraying amount. For example, the characterization information can be color. Shown with the required amount of spraying. The darker-colored area represents a higher percentage of the total amount that needs to be sprayed, and the lighter-colored area represents a lower percentage of the total amount that needs to be sprayed.

In an optional embodiment, before the step of receiving the spraying parameter determined by the remote control terminal according to the spraying position information, the method further includes:

S100a: Obtain a prescription map generated using a machine learning model.

Specifically, in the embodiment of the present application, a preset machine learning model may be used to generate the prescription map. After the machine learning model for generating the prescription map is preset, the machine learning model may be sprayed according to different spraying objects, such as crops. Different characteristics of land, paddy field, etc., for data learning.

The input parameters of the machine learning model can be crop photos taken by drones. The machine learning model uses photo recognition technology to read crop information such as crop growth, density, and health from the photo data, and normalize it After processing, the spraying amount reflected in the prescription chart is finally obtained. The machine learning model can be trained using a large amount of historical data. The historical data includes, for example, historical growth information and corresponding historical spraying volume. The historical growth information is, for example, obtained by a machine learning model based on a large number of overhead pictures.

In an optional embodiment, the method further includes: sending at least one of the flight route of the drone, the prescription map, and spraying feedback information to the remote control terminal.

Specifically, the user's control of the flight controller of the UAV depends on the remote control terminal in the user's hand, and the remote control terminal may be an APP installed on the remote control for the UAV. In order to enable the user to grasp and understand the situation of the drone's spraying tasks, the drone's flight controller will display at least one of the drone's flight route, spraying position-related prescription maps, and spraying position information. One is sent to the user's remote control terminal, so that the user can see the drone spraying task data at a glance, which increases the user's experience during the spraying process.

In addition, the information sent to the remote control terminal may also include spraying feedback information. That is to provide feedback on the relevant information of the spraying that has been completed or the spraying that is being performed. The spraying feedback information includes, for example, the sprayed area, the spraying amount of the sprayed area, etc. The spraying feedback information may include multiple types for feedback to the user on the spraying operation of the drone, and the application is not particularly limited.

In an optional embodiment, the method further includes:

Receiving control information of the remote control terminal;

Execute a corresponding spraying control operation according to the control information;

Wherein, the control information includes at least one of: modifying the flight route of the drone, modifying the spraying parameter, modifying the prescription map, setting the stay position, and setting the stay time.

Specifically, the flight controller of the unmanned aerial vehicle can receive the control information input by the user for the spraying task when using the remote control terminal.

For example, the user is using the APP installed on the remote control to receive the flight route of the drone. After seeing the flight route of the drone, the user wants to make certain adjustments to the spraying flight route. The user can click "Modify" in the remote control app. Route” and adjust the flight route of the drone spraying mission according to the APP’s prompts, and send the adjustment data to the drone’s flight controller. The flight controller will respond according to the user’s adjustment information. The above information updates and adjusts the flight route of this spraying mission.

For another example, the user is using the remote control APP to receive the flight path of the drone. When the user sees the prescription map displayed on the APP, he wants to adjust the spray volume of a certain area. The user can use the remote control APP. Click "Modify Spraying Volume" and adjust the spraying volume of this area for this drone spraying task according to the APP's prompts, and send the adjustment data to the drone's flight controller. The flight controller is receiving After the user's adjustment information is reached, the spraying volume of this area of the spraying task will be updated and adjusted according to the above information.

For another example, when in a scene such as "tree core spraying", the drone needs to hover over the tree core and stay for a specified time. In this case, the user can set the location (latitude, longitude, altitude) and other information, and set the stay time, so that the drone can be accurately controlled to perform spraying operations.

It can be seen from the first embodiment that the spraying control method provided by the embodiment of the present application not only uses the prescription map to achieve precise spraying, but also enables convenient interaction between the user and the drone, and spray-related information can be displayed on The remote control terminal is convenient for users to operate and modify in time, and can achieve the technical effect of precise control of the spray volume.

In an optional embodiment, in S103, the step of issuing a spraying control instruction according to the spraying parameter may include:

S103a: Generate the spraying control instruction according to the response time of the spraying system of the drone and the flying speed of the drone.

Since the drone needs to be sprayed during the flight, and the drone flight has a certain speed, and the flight controller of the drone also has a certain system response time, the spraying system needs to be combined in the embodiment of this application. The response time of the drone and the flight speed of the drone are considered comprehensively to generate spray control instructions.

In some embodiments, the total amount of spraying is determined by the user in the remote control terminal and sent to the flight controller of the drone, or is determined by the total amount of spraying medium carried by the flight controller of the drone detected of. An embodiment of the present application may further include the following steps:

S100b, determine the total amount of spraying.

Specifically, when the drone performs the spraying task, it is necessary to first determine the total amount of spray that the drone carries or is expected to use. The specific method for determining the total amount of spraying can be through the user's flight controller of the drone. Set the total amount of spraying. For example, when the spraying medium is pesticides, the user uses the remote control terminal to estimate that a total of 20L of pesticides will be required based on the spraying conditions of the crops. Then the total amount of 20L of pesticides input by the user is transmitted to the remote control terminal. In the drone's flight controller, the drone's flight controller will perform subsequent spraying control calculations based on the total amount of pesticide sprayed data input by the user. At this time, the user only needs to fill in the corresponding volume according to the total amount of pesticides input. Of pesticides.

It should be noted that after the user enters the total amount of spraying medium, the processor of the remote control terminal of the drone will perform a preliminary data check based on the value entered by the user. For example, the processor will check whether the data entered by the user exceeds none. The volume of the spray medium with the largest capacity that can be carried by the man-machine. When the user input value occurs but is not limited to the above special circumstances, the drone remote control terminal will prompt the user to correct the input and prompt the user the reason why the previous input cannot be executed.

It should also be noted that when the user is inputting the total amount of spraying, he can simply input

"Max", so that the processor of the remote control terminal of the drone will recognize through the word "max" that the user wants to fill the medicine box to the fullest state, and then use the maximum volume value of the medicine box as the value input by the user, and pass it To the flight controller of the drone.

In addition, the specific method of determining the total amount of spraying of the drone can also be to judge the machine learning model through the processor of the drone's flight controller, that is, to use the drone's past spraying history data for machine learning to calculate the cost. The total amount that the drone needs to carry for spraying tasks, and then the total amount of spraying obtained through machine learning is used as the total amount of spraying data for subsequent spraying control calculations.

It should be noted that the total amount of spraying machine learning model in the drone's flight controller can be made according to the crop spraying plan desired by the user when the user initially sets the drone preferences. For example, if the user wants to implement a gradual spraying plan for crop spraying tasks, the user can select a set of machine learning models that generate a gradual reduction in the total amount of spraying based on historical data according to the actual situation. The model will be based on the previous spraying situation. Calculate the total value of this spraying task, and directly prompt the user to fill the above-mentioned value into the medicine box of the drone. Among them, different types of machine learning models can be provided to the user by the flight controller of the drone and displayed on the remote control terminal of the user's drone, and the user can select the machine learning model according to his own needs.

It should also be noted that in the above two methods of determining the total amount of spraying, the unit of the total amount of spraying can be mu, that is, the amount of crops that need to be sprayed per acre. According to the total area of crops preset by the user, the drone's flight The controller will automatically calculate the total filling volume. In the embodiments of the present application, which method is used to determine the total amount of spraying is not specifically limited here.

In the embodiment of the present application, the prescription map information generated by the flight controller is used to calculate the spraying amount at the location of the drone, and the method of accurately controlling the spraying to eliminate the delay response is sent to the drone. The way that humans and machines perform related spraying tasks accurately control the spraying amount of each location information to achieve the purpose of scientifically and accurately spraying according to the generation of different crops, thereby solving the problem of spraying that cannot be precisely controlled in the prior art. The technical problem of the spraying of the medium.

In an optional embodiment, the present application improves the user's control and interaction by displaying the spraying operation information of the drone on the user side, and makes the spraying more accurate.

Fig. 3 is a flowchart of an optional spraying control method according to an embodiment of the present application. As shown in Fig. 3, according to another aspect of the embodiment of the present application, a spraying control method is also provided, which is applied to unmanned The remote control terminal of a computer, the method includes:

S201: Obtain a prescription map, where the prescription map includes the correspondence between spraying position information and spraying amount;

S202: Obtain the spraying position information of the drone;

S203: Determine a spray amount corresponding to the spray position information according to the spray position information and the prescription map;

S204, sending the spraying parameter including the spraying amount to the flight controller of the drone;

S205, display the spraying operation information of the drone,

The following is a specific description.

The prescription graph is a graph of the corresponding relationship between the spraying position and the spraying amount. The prescription map may also include characterization information, which is used to express the growth information of the sprayed object, such as information graphics of crop information such as crop growth information, planting density, and health. The graphics may be in the form of a data table or a histogram. In the embodiment of this application, the prescription map is produced by taking pictures, surveying and mapping of the spraying area to be executed in the early stage of the drone, and the machine learning model is used to generate the growth information of the area, such as crop growth information, so as to be used in the embodiment of this application. The prescription map is used to carry out the precise control task of drone spraying. Among them, the prescription map may only be a part of a certain area, that is, it only represents the growth information of the crops in the area where the user needs to spray, and outside this area, it is expressed in the form of ordinary map data.

In S201, the information provided by the prescription map includes the spraying amount corresponding to different spraying positions. The spraying amount is, for example, the unit spraying amount of the area calculated from the total amount of spraying and the spraying percentage of a certain location, or directly providing the area's spraying amount. The spraying percentage, and the spraying amount may be determined by one or more of plants, such as crop growth, planting density, health level, and other information.

For example, for the crop area specified by the user, the prescription map generated by the drone in the embodiment of the present application includes three crop areas A, B, and C. The densities of these three areas are 100, 250, and 200, respectively. , The prescription map also contains the corresponding spraying percentage information: 20% in area A, 50% in area B, and 30% in area C, that is, the total amount of spray carried by the drone acts on the corresponding crop area according to the above percentage. Among them, A, B, C are spraying positions,

That is, 20%, 50%, and 30% are spray percentages.

The growth information in the prescription map can also be a kind of characteristic information that shows the extent to which the spraying object is suitable for planting crops, including, when the spraying object is land, the pH information of the land and paddy field, the content of nitrogen, phosphorus and potassium, etc. to indicate whether it is suitable for crop growth The information is not limited here.

S202: Obtain the spraying position information of the drone;

Specifically, the remote control terminal held by the user can obtain the spraying position information generated by the drone during the flight. When the drone is flying, in order to effectively complete the spraying operation, it needs to fly according to a certain flight route or flight trajectory. There will be an For the corresponding spraying amount or spraying percentage, the above-mentioned coordinate position is the spraying position information, which can be a three-dimensional coordinate value composed of longitude, latitude, and height.

For example, the drone flies according to flight route A, and the drone's flight controller is equipped with a GPS global positioning system. Through the GPS positioning system, the real-time position of the drone can be transmitted to the drone's flight controller for processing. At the same time, the flight altitude of the drone is measured through the altimeter and transmitted to the processor of the drone’s flight controller. The processor combines the data transmitted by the GPS and the barometric altimeter to form (x, y, z ) Coordinates, which indicate the current flying position and flying height of the drone. Finally, the flight controller will send the coordinate values to the user's remote control APP, so that the user can grasp the spraying position information of the drone in real time.

Specifically, the remote control terminal of the unmanned aerial vehicle held by the user can display the spraying position information of the unmanned aerial vehicle and the spraying parameters calculated according to the spraying position information. It should be noted that the flight controller of the drone determines the spraying position information according to the real-time positioning system installed on the drone. The spraying position information is the information of the crop area that needs to be sprayed during the flight of the drone, which can be a kind of The three-dimensional coordinate value (as described in the previous step), the coordinate value represents the spatial position of the aircraft during flight. Since the prescription map contains the spraying position information and the corresponding spraying parameter information, for example, the required spraying amount in the area A in the crop area to be sprayed is X, and the flight controller of the drone can use the above-mentioned corresponding relationship to use real-time The acquired space spraying position information of the drone is used to determine the spraying parameters corresponding to the position information.

In addition, through the drone spraying position information, the spraying parameters determined using the prescription map may include the spraying position and the spraying percentage corresponding to the position. The drone's flight controller determines the amount of spraying by determining the spraying percentage.

For example, in the process of calculating the spraying parameters of the drone, the total spraying amount set by the user is m, and at the same time interacting with the drone remote control terminal to obtain the spraying flow rate at the current spraying position as P(%), which is determined by the formula f=m*P determines the spraying volume or spraying volume at the current location, that is, the spraying volume corresponding to the current spraying location.

In this step, since the prescription map includes the spraying position information (that is, the set spraying position) and the corresponding spraying amount, for example, the spraying amount required at point A in the crop area to be sprayed is X, the drone The flight controller can then use the real-time acquisition of the drone's spraying position information to determine the amount of spraying corresponding to the spraying position information through the above-mentioned corresponding relationship.

In this step, the remote control terminal may send the spraying parameters determined according to the prescription map to the flight controller, so that the flight controller can generate a spraying control command accordingly.

According to the embodiment of the present application, the spraying parameter may include the spraying position and the spraying amount corresponding to the position (for example, the spraying percentage). Spraying parameters can also include weather index and temperature index, such as wind, rain, day and night, surface temperature and drone body temperature, etc., spraying parameters can also include the aforementioned response time of the drone's spraying system, and the flight of the drone. At least one of speed, flying height of the drone, and spraying pressure. Through the determination of these spraying parameters, the spraying accuracy of UAV spraying can be further comprehensively improved. For another example, when there is wind level 4 in the weather index, when the drone is spraying, it needs to calculate the wind and wind direction into the flying speed of the drone, so that the subsequent control of the spray response time can be more accurate. Unmistakable.

S205: Display the spraying operation information of the drone.

In this step, the spraying operation information may include at least one of the following information: the spraying parameters, the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, and the total amount of spraying.

The flight route of the drone may be a flight route determined by the user, the server, the flight control device of the drone, etc. according to the area to be sprayed. The current spraying area is the area that is being sprayed at the moment or will be sprayed in the next moment, the flight speed and altitude are the position information of the flight, and the total spraying amount is for example the pesticides and seeds set by the user or the total amount of seeds loaded by the drone.

The current spraying area can be displayed on the display interface of the remote control terminal through special methods, such as highlighting and displaying borders. At the same time, the flight speed, flying height, and total spraying amount can be obtained and displayed in real time.

In an optional embodiment, the method may further include:

S200a, receiving the set total amount of spraying.

Specifically, since the embodiment of the present application is applied to the remote control terminal of the drone, the user needs to receive the data generated or calculated in the flight controller of the drone through the remote control terminal of the drone. The remote control terminal of the drone can be the user's remote control drone APP, or it can be a remote control for the drone.

In addition, when the drone performs the spraying task, it is necessary to first determine the total amount of spray carried or expected to be used by the drone. The specific method for determining the total amount of spraying can be through the user spraying the drone controller. For example, the user uses the remote control terminal to estimate that a total of 20L of medicament is required according to the spraying situation of the crops. The total amount of 20L data input by the user is transmitted to the flight controller of the drone through the remote control terminal. The controller will perform subsequent spraying control calculations according to the total amount of spraying data input by the user. At this time, the user only needs to fill the corresponding volume according to the total amount entered.

It should be noted that after the user enters the total amount, the processor of the remote control terminal of the drone will perform a preliminary data check based on the value entered by the user. For example, the processor will check whether the data entered by the user exceeds that of the drone. The volume of the maximum capacity that can be carried. When the user input value occurs but is not limited to the above special circumstances, the drone remote control terminal will prompt the user to make a correction input and prompt the user the reason why the previous input cannot be executed.

It should also be noted that when the user is inputting the total amount of spraying value, he can simply enter the word "max", so that the processor of the remote control terminal of the drone will recognize through the word "max" that the user wants to fill up to When the medicine box is in the most full state, the maximum volume value of the medicine box is used as the value input by the user and transmitted to the flight controller of the drone.

It should be noted that the total amount of spraying machine learning model in the drone's flight controller can be made according to the crop spraying plan that the user wants when the user initially sets the drone preference. For example, if the user wants to implement a gradual spraying plan for crop spraying tasks, the user can select a set of machine learning models that generate a gradual reduction in the total amount of spraying based on historical data according to the actual situation. The model will be based on the previous spraying situation. Calculate the total value of this spraying task, and directly prompt the user to fill the above-mentioned value into the medicine box of the drone. Among them, different types of machine learning models can be provided to the user by the flight controller of the drone and displayed on the remote control terminal of the user's drone, and the user can select the machine learning model according to his own needs.

Optionally, the spraying object includes plants, and the spraying medium includes at least one of pesticides, water, and seeds. In some cases, the spray object may be plants, such as crops. In other cases, the sprayed objects may also be land or paddy fields. For example, when the sprayed medium is seeds, for example, when a drone is sowing seeds, the sprayed objects may be land or paddy fields. The growth information includes at least one of the growth information of the crops, the planting density of the crops, the health degree, and the characteristics of the plots.

Optionally, the prescription map further includes a characterizing quantity for characterizing growth information, and the growth information of the sprayed object may include multiple levels, and the multiple levels are displayed by different characterizing information. The characterization information may include at least one of color, data, shape, and text.

Optionally, before the step of obtaining the prescription map, the method further includes:

S200b: Obtain a prescription map generated by using a machine learning model.

Specifically, in the embodiments of the present application, a preset machine learning model can be used to generate a prescription map. Since the prescription map contains data such as growth information representation information, spraying position, spraying percentage, etc., the relevant prescription map generation uses are preset. After the machine learning model, the machine learning model performs data learning according to different crop input parameters, and combines with the historical data stored in the drone's flight controller to generate a prescription map for this task, that is, the latest crops in the task area to be executed Prescription map data, and use this data for subsequent calculation and control purposes.

Optionally, the method may further include:

At least one of the following information is received: the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, the location information of the drone, the total amount of spraying, the staying position, and the staying time.

Specifically, the flight controller of the drone may send mission data to the remote control terminal in the user's hand, where the remote control terminal may be an APP set for the drone on the remote control. In order to enable the user to grasp and understand the situation of the drone's spraying tasks, the user can use the remote control terminal to receive the drone's flight route of the drone's flight controller, the prescription map related to the spraying location information, and the spraying location information The task data of at least one of the relevant spraying percentages allows the user to understand the drone spraying task data at a glance, which increases the user experience during the spraying process.

The staying position and the staying time may be the hovering position of the drone determined according to the latitude, longitude, altitude, GPS signal, etc., for example, when spraying the scene in the center of the tree, hovering above the center of the tree for a specified period of time.

Optionally, the method further includes:

S206: Send control information;

S206 can be performed before, after, or at the same time as S200 to S205, which is not limited in this application.

Specifically, according to the embodiments of the present application, the user can send the adjustment control information of the drone regarding the execution of spraying tasks to the flight controller of the drone, and the control information includes changing the flight of the drone. Route, prescription map related to spraying location information, spraying percentage related to spraying location information, setting the staying position, setting the staying time, etc.

For example, the user is using the remote control APP to receive the flight route of the drone. After seeing the flight route of the drone, the user wants to make certain adjustments to the spraying flight route. The user can click "Modify Route" in the remote control APP. And according to the prompts of the APP, adjust the flight route of the drone spraying mission, and send the adjustment data to the drone's flight controller. After receiving the user's adjustment information, the flight controller will perform the adjustment The flight route of this spraying mission is updated and adjusted.

Fig. 4 is a structural block diagram of a spraying control device according to an embodiment of the present application, which is applied to a flight controller of an unmanned aerial vehicle. As shown in Fig. 4, the spraying control device includes:

The sending module 40 is used to send the spraying position information to the remote control terminal of the drone;

The receiving module 42 is configured to receive spraying parameters determined by the remote control terminal according to the spraying position information;

The instruction module 44 is configured to issue spraying control instructions according to the spraying parameters;

Optionally, the spraying control device is used to control the spraying of a spraying medium, and the spraying medium includes at least one of pesticides, water, and seeds.

Optionally, the prescription map further includes characterization information that characterizes the growth information of the sprayed object.

Optionally, the characterization information includes at least one of color, data, shape, and text, and the characterization information includes multiple levels.

Optionally, the device further includes:

The acquisition module is used to acquire the prescription map generated by the machine learning model.

Optionally, the device further includes:

The sending module is also used to send at least one of the flight route of the drone, the prescription map, and spraying feedback information to the remote control terminal.

Optionally, the device further includes:

The receiving module is also used to receive control information sent by the remote control terminal, and perform corresponding spraying control operations according to the control information. The control information includes: modifying the flight path of the drone, modifying the spraying At least one of parameters, modification of prescription map, setting of dwell position, and setting of dwell time.

Optionally, the instruction module is specifically used for:

The spraying control instruction is determined according to the response time of the spraying system of the drone and the flying speed of the drone.

Optionally, the spray amount includes at least one of spray percentage and spray volume.

Optionally, the growth information includes at least one of the growth information of the crops, the planting density of the crops, the degree of health, and the characteristics of the plot.

Optionally, the spraying parameters further include at least one of weather index, temperature index, response time of the spraying system of the drone, flying speed of the drone, flying height of the drone, and spraying pressure.

Fig. 5 is a structural block diagram of an optional spraying control device according to an embodiment of the present application, which is applied to a remote control terminal of a drone. As shown in Fig. 5, the spraying control device includes:

The obtaining module 50 is configured to obtain a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount;

The generating module 52 is configured to determine the spray amount corresponding to the spray position information according to the spray position information and the prescription map;

The sending module 54 is used to send the spraying parameters including the spraying amount to the flight controller of the drone;

The display module 56 is used to display the spraying operation information of the drone,

Optionally, the spraying operation information includes at least one of the spraying parameters, the flight route of the drone, the prescription map, the current spraying area, the flying speed, the flying height, and the total amount of spraying.

Optionally, the prescription map includes characterization information for characterizing the growth information of the sprayed object.

Optionally, the device further includes:

The generating module is also used to obtain the prescription map generated by the machine learning model.

Optionally, the device further includes: a receiving module for receiving at least one of the following information: the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flight height, and the location of the drone Information, total amount of spraying, staying position, staying time.

Optionally, the sending module is also used to send control information, and the control information includes at least one of modifying the flight route of the drone, modifying spraying parameters, modifying the prescription map, setting the stay position, and setting the stay time. kind.

The embodiment of the present application proposes an unmanned aerial system. As shown in FIG. 1, the unmanned aerial system 100 includes an unmanned aerial vehicle 110 and a remote control terminal 140; the unmanned aerial vehicle 110 includes a flight controller 161; the flight control The device 161 can transmit signals to the remote control terminal 140, and the remote control terminal 140 can send control signals to the flight controller 161;

The flight controller 161 is used to perform the following operations:

Sending the spraying position information to the remote control terminal;

Issuing spraying control instructions according to the spraying parameters;

In an optional embodiment, the UAV 110 further includes a sensing system 162 and a spraying system 170, the sensing system 162 is used to provide the spraying position information; the spraying system 170 is used to The spraying control instruction executes the spraying operation.

In an optional embodiment, the unmanned aerial vehicle 100 further includes a display device 130 for displaying the spraying operation information of the unmanned aerial vehicle.

The embodiment of the present application also proposes an unmanned aerial vehicle. As shown in FIG. 1, the unmanned aerial vehicle 110 includes a flight controller 161 for receiving a signal from a remote control terminal 140 and performing the following operations:

Sending the spraying position information to the remote control terminal;

Issuing spraying control instructions according to the spraying parameters;

Fig. 6 is a working flow chart of a spraying control device according to an embodiment of the present application. As shown in Fig. 6, the working flow chart of the spraying control device includes:

S601: Generate a prescription map.

Specifically, the prescription graph is an information graph that characterizes the growth information of crops, such as crop information such as growth, density, and health. The graph may be a data table or a histogram. In the embodiment of this application, the drone is made by taking photos, surveying and mapping the area to be executed in the early stage, and the machine learning model is used to generate the prescription map of the area, so that the prescription map is used to carry out the drone in the embodiment of this application. Spraying precise control tasks. Among them, the prescription map is only a part of the area in a certain space, that is, it only represents the crop growth and other information in the area where the user needs to spray, and outside this area, it is expressed in the form of ordinary map data.

In addition, in the embodiments of this application, a preset machine learning model can also be used to generate a prescription map. Since the prescription map includes data such as crop growth, spraying position and spray percentage, etc., the machine learning model for generating the relevant prescription map is preset. After that, the machine learning model performs data learning according to different crop input parameters, and combines historical data to generate the prescription map for this task, that is, the latest prescription map data for the crops in the task area to be executed, and use this data as subsequent calculation and control For use.

S602: Integrate and upload the user's input information to the flight control system according to the prescription map.

Specifically, according to the prescription map data, the user will input the operations that need to be further adjusted through the remote control terminal held by the user, and transmit the prescription map data to the flight controller of the drone together with the flight controller processing The device will summarize the above multiple data information to prepare for subsequent processing.

S603: The flight controller obtains GPS location information and the prescription map information, and transmits them to the flight controller.

Specifically, the processor of the flight control system will receive the GPS location information of the drone and the prescription map data, and determine the spraying control instruction.

S604: The navigation module obtains real-time position information of the drone.

Specifically, when the drone is flying, in order to effectively complete the spraying operation, it needs to fly according to a certain flight route or flight trajectory. The flight route of the drone, that is, each coordinate position on the flight path of the drone , There will be a corresponding spraying percentage. The above-mentioned coordinate position is the spraying position information, which can be a three-dimensional coordinate value composed of longitude, latitude and height.

For example, the drone flies according to flight route A, and the drone's flight controller is equipped with a GPS global positioning system. Through the GPS positioning system, the real-time position of the drone can be transmitted to the drone's flight controller for processing. At the same time, the flight altitude of the drone is measured through the barometric altimeter and transmitted to the processor of the drone’s flight controller. The processor combines the data transmitted by the GPS and the barometric altimeter to form (x, y, z) Coordinates, which indicate the current flying position and flying height of the drone. Finally, the flight controller will send the coordinate values to the user's remote control APP, so that the user can grasp the spraying position information of the drone in real time.

S605: Calculate the amount of spraying using the total amount of spraying and the percentage of spraying.

Specifically, the spraying parameters determined by using the prescription map may include the spraying location and the spraying percentage corresponding to the location based on the spraying location information of the drone. The drone's flight controller determines the amount of spraying by determining the spraying percentage.

For example, in the process of calculating the spraying parameters of the drone, the total spraying amount set by the user is m, and at the same time interacting with the drone remote control terminal to obtain the spraying flow rate at the current spraying position as P(%), which is determined by the formula f=m*P will determine the spraying amount of the current location.

S606: Calculate the spraying control amount.

S607: The spraying system receives the spraying control amount and implements the spraying operation.

Specifically, according to the spraying control amount obtained above, the spraying system executes the spraying operation in time after receiving the spraying control amount instruction.

According to another aspect of the embodiments of the present application, there is also provided a computer program product including instructions, which when the instructions run on a computer, cause the computer to execute the spraying control method.

According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the spraying control method. Specifically, the spraying control method includes: sending spraying position information to a remote control terminal of the drone; receiving spraying parameters determined by the remote control terminal according to the spraying position information; and issuing spraying control instructions according to the spraying parameters; The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount.

The spraying control method further includes: obtaining a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount; obtaining the spraying position information of the drone; and determining the spraying position information according to the spraying position information and the prescription map. The spraying amount corresponding to the spraying position information is generated, and spraying parameters are generated; the spraying parameters including the spraying amount are sent to the flight controller of the drone; the spraying operation information of the drone is displayed, wherein the spraying operation information It is the spraying operation information related to the spraying control instruction generated by the flight controller of the drone according to the spraying amount.

The serial numbers of the foregoing embodiments of the present application are for description only, and do not represent the superiority or inferiority of the embodiments.

In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus. For a part that is not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a program product, and the computer program product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

An embodiment of the present application also provides a computer program, including computer readable code, which when the computer readable code runs on a computing processing device, causes the computing processing device to execute the aforementioned spraying control method.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present application. This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

For example, FIG. 7 shows a computing processing device that can implement the method according to the present application. The computing processing device traditionally includes a processor 1010 and a computer program product in the form of a memory 1020 or a computer readable medium. The memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 1020 has a storage space 1030 for executing program codes 1031 of any method steps in the above methods. For example, the storage space 1030 for program codes may include various program codes 1031 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks. Such computer program products are usually portable or fixed storage units as described with reference to FIG. 8. The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 7. The program code can be compressed in an appropriate form, for example. Generally, the storage unit includes computer-readable code 1031', that is, code that can be read by a processor such as 1010, which, when run by a computing processing device, causes the computing processing device to execute the method described above. The various steps.

The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the scope of protection of this application.

Claims

A spraying control method applied to a flight controller of an unmanned aerial vehicle, characterized in that the method includes:

Send the spraying position information to the remote control terminal of the drone;

Receiving spraying parameters determined by the remote control terminal according to the spraying position information;

Issuing spraying control instructions according to the spraying parameters;

The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount.
The method according to claim 1, wherein the spraying control method is used to control the spraying of a spraying medium, and the spraying medium includes at least one of pesticides, water, and seeds.
The method according to claim 1, wherein the prescription map further includes characterization information that characterizes the growth information of the sprayed object.
The method according to claim 3, wherein the characterization information includes at least one of color, data, shape, and text, and the characterization information includes multiple levels.
The method according to claim 1, wherein before the step of receiving the spraying parameter determined by the remote control terminal according to the spraying position information, the method further comprises:

Obtain the prescription map generated by the machine learning model.
The method according to claim 1, wherein the method further comprises: sending at least one of the flight route of the drone, the prescription map, and spraying feedback information to the remote control terminal.
The method according to claim 6, wherein the method further comprises:

Receiving control information sent by the remote control terminal;

Execute a corresponding spraying control operation according to the control information;

Wherein, the control information includes at least one of: modifying the flight route of the drone, modifying the spraying parameter, modifying the prescription map, setting the stay position, and setting the stay time.
The method according to claim 1, wherein the issuing a spraying control instruction according to the spraying parameter specifically comprises:

The spraying control instruction is generated according to the response time of the spraying system of the drone and the flying speed of the drone.
The method according to claim 1, wherein the spray amount includes at least one of spray percentage and spray volume.
The method according to claim 3, wherein the growth information includes at least one of the growth information of the crops, the planting density of the crops, the health degree, and the characteristics of the plot.
The method according to claim 1, wherein the spraying parameters further include weather index, temperature index, response time of the spraying system of the drone, flying speed of the drone, flying height of the drone, spraying At least one of pressure.
A spraying control method applied to a remote control terminal of an unmanned aerial vehicle, characterized in that the method includes:

Acquiring a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount;

Obtain the spraying position information of the drone;

Determine the spray amount corresponding to the spray position information according to the spray position information and the prescription map;

Sending the spraying parameters including the spraying amount to the flight controller of the drone;

Display the spraying operation information of the drone;

The spraying operation information is the spraying operation information related to the spraying control instruction generated by the flight controller of the drone according to the spraying amount.
The method according to claim 12, wherein the spraying operation information includes the spraying parameters, the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, and the total amount of spraying. At least one.
The method according to claim 12, wherein the spraying control method is used to control the spraying of a spraying medium, and the spraying medium includes at least one of pesticides, water, and seeds.
The method according to claim 12, wherein the prescription map further includes characterization information that characterizes the growth information of the sprayed object.
The method according to claim 15, wherein the characterization information includes at least one of color, data, shape, and text, and the characterization information includes multiple levels.
The method according to claim 12, characterized in that, before the step of obtaining a prescription map, the method further comprises:

Obtain the prescription map generated by the machine learning model.
The method according to claim 12, wherein the method further comprises:

At least one of the following information is received: the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, the location information of the drone, the total amount of spraying, the staying position, and the staying time.
The method according to claim 18, wherein the method further comprises:

Send control information;

The control information includes at least one of modifying the flight route of the UAV, modifying the spraying parameters, modifying the prescription map, setting the stay position, and setting the stay time.
The method according to claim 15, wherein the growth information includes at least one of the growth information of the crops, the planting density of the crops, the health degree, and the characteristics of the plot.
The method according to claim 12, wherein the spraying parameters further include weather index, temperature index, response time of the spraying system of the drone, flying speed of the drone, flying height of the drone, spraying At least one of pressure.
A spraying control device applied to a flight controller of an unmanned aerial vehicle, characterized in that the device includes:

The sending module is used to send the spraying position information to the remote control terminal of the drone;

A receiving module, configured to receive spraying parameters determined by the remote control terminal according to the spraying position information;

An instruction module for issuing spraying control instructions according to the spraying parameters;

The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount.
The device according to claim 22, wherein the spraying control device is used to control the spraying of a spraying medium, and the spraying medium includes at least one of pesticides, water, and seeds.
The device according to claim 22, wherein the prescription map further includes characterization information that characterizes the growth information of the sprayed object.
The device according to claim 22, wherein the characterization information includes at least one of color, data, shape, and text, and the characterization information includes multiple levels.
The device according to claim 25, wherein the device further comprises:

The acquisition module is used to acquire the prescription map generated by the machine learning model.
The device of claim 22, wherein:

The sending module is also used to send at least one of the flight route of the drone, the prescription map, and spraying feedback information to the remote control terminal.
The device of claim 27, wherein:

The receiving module is also used to receive control information sent by the remote control terminal, and perform corresponding spraying control operations according to the control information. The control information includes: modifying the flight path of the drone, modifying the spraying At least one of parameters, modification of prescription map, setting of dwell position, and setting of dwell time.
The device according to claim 28, wherein the instruction module is specifically configured to:

The spraying control command is generated according to the response time of the spraying system of the drone and the flying speed of the drone; the spraying control command.
The device according to claim 22, wherein the spray amount includes at least one of spray percentage and spray volume.
The device according to claim 24, wherein the growth information includes at least one of the growth information of the crops, the planting density of the crops, the health degree, and the characteristics of the plot.
The device according to claim 22, wherein the spraying parameters further include weather index, temperature index, response time of the spraying system of the drone, flying speed of the drone, flying height of the drone, spraying At least one of pressure.
A spraying control device applied to a remote control terminal of an unmanned aerial vehicle, characterized in that the device includes:

An obtaining module for obtaining a prescription map, the prescription map including the corresponding relationship between spraying position information and spraying amount;

The acquisition module is also used to acquire the spraying position information of the drone;

A generating module, configured to determine the spray amount corresponding to the spray position information according to the spray position information and the prescription map;

A sending module for sending spraying parameters including the spraying amount to the flight controller of the drone;

A display module for displaying the spraying operation information of the drone;

The spraying operation information is the spraying operation information related to the spraying control instruction generated by the flight controller of the drone according to the spraying amount.
The device according to claim 33, wherein the spraying operation information includes the spraying parameters, the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, and the total amount of spraying. At least one.
The device according to claim 33, wherein the spraying control device is used to control the spraying of a spraying medium, the spraying object includes plants, and the spraying medium includes at least one of pesticides, water, and seeds.
The device according to claim 33, wherein the growth information of the sprayed object in the prescription map includes multiple levels, and the multiple levels are displayed through different characterization information.
The device according to claim 36, wherein the characterization information includes at least one of color, data, shape, and text, and the characterization information includes multiple levels.
The device of claim 33, wherein:

The generating module is also used to obtain the prescription map generated by the machine learning model.
The device according to claim 33, wherein the device further comprises:

The receiving module is used to receive at least one of the following information: the flight route of the drone, the prescription map, the current spraying area, the flight speed, the flying height, the location information of the drone, the total amount of spraying, the staying position, the staying time.
The device of claim 39, wherein:

The sending module is also used to send control information, and the control information includes at least one of modifying the flight route of the drone, modifying the spraying parameters, modifying the prescription map, setting the stay position, and setting the stay time.
A computer program product comprising instructions, characterized in that, when the instructions are run on a computer, the computer is caused to execute the method according to any one of claims 1-21.
A computer-readable storage medium, characterized by comprising instructions, which when run on a computer, causes the computer to execute the method according to any one of claims 1-21.
A computing processing device, characterized in that it comprises:

A memory in which computer-readable codes are stored;

One or more processors, and when the computer-readable code is executed by the one or more processors, the computing processing device executes the method according to any one of claims 1-21.
An unmanned aerial system, characterized by comprising an unmanned aerial vehicle and a remote control terminal; the unmanned aerial vehicle comprises a flight controller; the flight controller can communicate and transmit with the remote control terminal;

The flight controller is used to perform the following operations:

Sending the spraying position information to the remote control terminal;

Receiving spraying parameters determined by the remote control terminal according to the spraying position information;

Issuing spraying control instructions according to the spraying parameters;

The spraying parameter includes the spraying amount determined by the remote control terminal according to the prescription map and the spraying position information, and the prescription map includes the corresponding relationship between the spraying position information and the spraying amount.
The unmanned aerial vehicle system according to claim 44, wherein the unmanned aerial vehicle further comprises a sensing system and a spraying system, the sensing system is used for providing the spraying position information; the spraying system is used for The spraying operation is performed according to the spraying control instruction.
The unmanned aerial vehicle system according to claim 44, wherein the unmanned aerial vehicle system further comprises a display device for displaying spraying operation information of the unmanned aerial vehicle.
An unmanned aerial vehicle, characterized by comprising the spraying control device according to any one of claims 22-32.