WO2022087905A1

WO2022087905A1 - Operation control method and device, and unmanned aerial vehicle and computer-readable storage medium

Info

Publication number: WO2022087905A1
Application number: PCT/CN2020/124491
Authority: WO
Inventors: 祝煌剑; 王春明; 王璐
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2022-05-05
Also published as: CN113498499A

Abstract

An operation control method and device, and an unmanned aerial vehicle and a computer-readable storage medium. The method comprises: in a process of controlling an unmanned aerial vehicle to perform spraying operation on a target land parcel, obtaining a distance between a current position of the unmanned aerial vehicle and a target boundary in real time (S101); and determining, according to the distance between the current position of the unmanned aerial vehicle and the target boundary, whether to adjust the current spraying width of the unmanned aerial vehicle (S102). The unmanned aerial vehicle can be accurately controlled to perform spraying operation, and the spraying effect is improved.

Description

Operation control method, device, unmanned aerial vehicle, and computer-readable storage medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to an operation control method, a device, an unmanned aerial vehicle, and a computer-readable storage medium.

Background technique

With the development of drone technology, more and more users begin to use drones for plant protection operations, especially the use of drones for pesticide spraying and chemical fertilizer spraying, etc. Labor intensity and other advantages. Due to the misalignment between the operating route and the boundary of the plot, the control accuracy of the flight control system, and the control accuracy of the spraying device, the drone cannot accurately spray the area at the boundary of the plot when spraying the plot. operation, affecting the spraying effect.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide an operation control method, a device, an unmanned aerial vehicle, and a computer-readable storage medium, which aim to accurately control the unmanned aerial vehicle to perform spraying operation and improve the spraying effect.

In a first aspect, an embodiment of the present application provides a job control method, including:

In the process of controlling the drone to spray the target land, the distance between the current position of the drone and the target boundary is obtained in real time, wherein the target boundary includes the boundary of the target land. the border adjacent to the current operating route of the drone;

According to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spraying width of the drone.

In a second aspect, an embodiment of the present application further provides an operation control apparatus, the operation control apparatus including a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

According to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spray width of the drone.

In a third aspect, an embodiment of the present application also provides an unmanned aerial vehicle, including:

body;

a spraying device, which is arranged on the body and is used to realize the spraying operation;

a power system, arranged on the body, for providing flight power for the drone;

The above-mentioned operation control device is provided in the body, and is used for controlling the drone to perform the spraying operation.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the job control method.

The embodiments of the present application provide an operation control method, device, unmanned aerial vehicle, and computer-readable storage medium. During the process of controlling the unmanned aerial vehicle to spray a target plot, the current position and The distance between the target boundaries, and according to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spray width of the drone, so that the drone can accurately spray the land and improve the Human-machine spraying effect.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of an unmanned aerial vehicle implementing the operation control method provided by the embodiment of the present application;

2 is a schematic flowchart of steps of a job control method provided by an embodiment of the present application;

Fig. 3 is a scene schematic diagram of the distance between the current position of the drone and the target boundary in the embodiment of the present application;

Fig. 4 is the sub-step schematic flow chart of the job control method in Fig. 2;

Fig. 5 is another scene schematic diagram of the distance between the current position of the drone and the target boundary in the embodiment of the present application;

Fig. 6 is another scene schematic diagram of the distance between the current position of the drone and the target boundary in the embodiment of the present application;

Fig. 7 is another scene schematic diagram of the distance between the current position of the drone and the target boundary in the embodiment of the present application;

8 is a schematic block diagram of the structure of a job control device provided by an embodiment of the present application;

FIG. 9 is a schematic block diagram of the structure of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

In order to solve the above problems, the embodiments of the present application provide an operation control method, a device, an unmanned aerial vehicle, and a computer-readable storage medium. The distance between the current position of the drone and the target boundary, and according to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spraying width of the drone, so that the drone can accurately spray the land. Spraying operations to improve the spraying effect of drones.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle implementing the operation control method provided by the embodiment of the present application. As shown in FIG. 1 , the UAV 100 includes a body 110, a spraying device 120 provided on the body 110, and a power system 130 provided on the body 110. The spraying device 120 is used in the agricultural industry to spray pesticides, water, etc. on agricultural products, forest trees, etc. For liquid spraying, the power system 130 is used to provide flying power for the UAV 100 to drive the spraying device 120 to move to different positions or different angles to perform spraying operations in a preset area.

In one embodiment, the drone 100 further includes a liquid supply tank 140, which is used for supplying liquids such as pesticides and water, and the spraying device 120 includes a first spray head assembly 121, a second spray head assembly 122, and a pressure regulating valve 123. and the liquid conduit 124, the pressure regulating valve 123 is arranged on the first nozzle assembly 121 and the second nozzle assembly 122, the first nozzle assembly 121 and the second nozzle assembly 122 are used to realize the spraying operation, and the pressure regulating valve 123 is used to adjust the first nozzle assembly 121 and the second nozzle assembly 122. The pressure of the nozzles of the first nozzle assembly 121 and the second nozzle assembly 122 is used to adjust the spray width of the drone 100. The liquid conduit 124 is used to guide the liquid in the liquid supply tank 140 to the first nozzle assembly 121 and the second nozzle assembly 121 and the second nozzle assembly 122. The number of the first nozzle assembly 121 and the number of the second nozzle assembly is at least one, and may be one, two, three, four or more, which is not specifically limited in this embodiment of the present application.

In one embodiment, the drone 100 includes an operation control device (not shown in FIG. 1 ). During the process that the operation control device controls the drone 100 to spray the target land, the operation control device obtains real-time information about the unmanned aerial vehicle. The distance between the current position of the drone and the target boundary, where the target boundary includes the boundary adjacent to the current operating route of the drone among the boundaries of the target plot; according to the distance between the current position of the drone and the target boundary to determine whether to adjust the current spray width of the drone. Among them, the distance between the current position of the UAV and the target boundary can be determined according to the TOF ranging sensor, the image acquisition device or the radar device 150 in FIG. 1, and the position information of the target boundary can also be set in advance. , according to the current position information of the drone and the position information of the target boundary set in advance, determine the distance between the current position of the drone and the target boundary, the radar device 150 can be a laser radar, or can be a millimeter wave radar , which is not specifically limited in the embodiments of the present application.

Wherein, the UAV 100 may have one or more power systems 130, and all the power systems 130 may be of the same type. Alternatively, one or more of the powertrains 130 may be of a different type. The power system 130 may be mounted on the frame 110 of the drone 100 by suitable means, such as by support elements (eg, drive shafts). The power system 130 may be installed in any suitable location on the UAV 100, such as the top end, the lower end, the front end, the rear end, the side, or any combination thereof.

In one embodiment, the power system 130 enables the drone 100 to take off vertically from the ground, or to land vertically on the ground, without any horizontal movement of the drone 100 (eg, without taxiing on a runway). Optionally, the power system 130 may allow the drone 100 to preset positions and/or turn the steering wheel in the air. One or more of the powertrains 130 may be controlled independently of the other powertrains 130 . Alternatively, one or more power systems 130 may be controlled simultaneously. For example, the drone 100 may have multiple horizontally oriented power systems 130 to track the lift and/or push of the target. The horizontally oriented power system 130 may be actuated to provide the ability of the drone 100 to take off vertically, land vertically, and hover.

In one embodiment, one or more of the horizontally oriented power systems 130 may rotate in a clockwise direction, while one or more of the other horizontally oriented power systems may rotate in a counter-clockwise direction. For example, there are as many power systems 130 rotating clockwise as there are power systems 130 rotating counterclockwise. The rotational rate of each horizontal power system 130 can be varied independently to achieve the lift and/or push operation caused by each power system, thereby adjusting the spatial orientation, speed and/or acceleration of the UAV 100 (eg, relative to multiple rotation and translation up to three degrees of freedom).

In one embodiment, the UAV 100 can communicate with the control terminal, and can realize data interaction between the control terminal and the UAV 100, such as flight control of the UAV 100, control of the load (when the load is When shooting a device, the control terminal can control the shooting device), wherein the control terminal can communicate with the drone 100 and/or the payload, and the communication between the drone 100 and the control terminal can be wireless Direct communication is provided between the machine 100 and the control terminal. This direct communication can occur without any intermediary devices or networks.

In one embodiment, indirect communication may be provided between the drone 100 and the control terminal. Such indirect communication may take place by means of one or more intermediaries or networks. For example, indirect communication may utilize a telecommunications network. Indirect communication may take place by means of one or more routers, communication towers, satellites, or any other intermediary device or network. Examples of types of communication may include, but are not limited to, communication via the Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth, Near Field Communication (NFC) technology, based on technologies such as General Packet Radio Service (GPRS), GSM Enhanced Data GSM Environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocols for mobile data protocols, infrared (IR) communication technology, and/or Wi-Fi, and may be wireless, wired, or its combination.

Wherein, the control terminal may include but is not limited to: smart phone/mobile phone, tablet computer, personal digital assistant (PDA), desktop computer, media content player, video game station/system, virtual reality system, augmented reality system, wearable Devices (eg, watches, glasses, gloves, headwear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head mounted devices (HMDs), headbands), pendants, armbands, leg loops, shoes , vest), gesture recognition device, microphone, any electronic device capable of providing or rendering image data, or any other type of device. The control terminal may be a handheld terminal, and the control terminal may be portable. The control terminal can be carried by a human user. In some cases, the control terminal may be remote from the human user, and the user may use wireless and/or wired communications to control the control terminal.

Hereinafter, the operation control method provided by the embodiment of the present application will be described in detail with reference to the unmanned aerial vehicle in FIG. 1 . It should be noted that the drone in FIG. 1 is only used to explain the operation control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the operation control method provided by the embodiment of the present application.

Please refer to FIG. 2 , which is a schematic flowchart of steps of a job control method provided by an embodiment of the present application. The operation control method can be applied to an unmanned aerial vehicle for controlling the unmanned aerial vehicle to perform spraying operations.

As shown in FIG. 2, the job control method includes steps S101 to S102.

Step S101 , in the process of controlling the drone to spray the target plot, obtain the distance between the current position of the drone and the target boundary in real time.

Wherein, the target boundary includes the boundary adjacent to the current operating route of the UAV among the boundaries of the target plot. As shown in Figure 3, the target plot is the plot area enclosed by boundary point A, boundary point B, boundary point C and boundary point D, and the starting waypoint of the UAV's operating route on the target plot is Waypoint 11, and the end waypoint is waypoint 12, and the current operation route of the UAV 14 is the operation route 13. Therefore, the target boundary can be the boundary BC formed by the boundary point B and the boundary point C. The distance between the current position and the boundary BC is d.

It can be understood that the distance between the current position of the UAV and the target boundary can be determined according to the TOF ranging device, image acquisition device or radar device, and the position information of the target boundary can also be set in advance. The current position information of the drone and the position information of the target boundary set in advance are used to determine the distance between the current position of the drone and the target boundary. The radar device can be a laser radar or a millimeter wave radar. This application The embodiment does not specifically limit this.

In one embodiment, the TOF ranging device includes a transmitting device for transmitting an optical signal and a receiving device for receiving the optical signal reflected by the target object, the light source of the transmitting device is an infrared light source, and the transmitting device of the TOF ranging device is directed toward the target object. The target boundary emits an optical signal, and records the emission time point. When the optical signal emitted by the transmitting device encounters an object on the target boundary, the optical signal is emitted through the surface of the object, and the optical signal reflected by the object is obtained. The receiving device can receive the light signal reflected by the object, and record the receiving time point. Through the transmitting time point and the receiving time point, the flight time of the light signal between the current position of the UAV and the target boundary can be calculated, and then according to the flight time Time and the speed of light can calculate the distance between the current position of the drone and the target boundary.

In one embodiment, as shown in FIG. 4 , step S101 may include sub-steps S1011 to S1012.

S1011. Acquire first position information of the target boundary and second position information corresponding to the current position of the drone.

Wherein, the second position information of the current position of the UAV can be acquired by a (Global Positioning System, GPS) positioning device and/or a real-time kinematic (Real-time kinematic, RTK) positioning device in the UAV.

In one embodiment, the preset position information may be determined as the first position information of the target boundary. The preset position information is the position information collected by the user at the target boundary through the GPS positioning device in the UAV or the terminal device, and is stored in the memory of the UAV in advance. By determining the preset position information as the first position information of the target boundary, no additional equipment is needed to determine the distance between the current position of the UAV and the target boundary, and the cost is reduced.

In an embodiment, the method of acquiring the first position information of the target boundary may further be: collecting point cloud data of the environment where the drone is located; and determining the first position information of the target boundary according to the point cloud data. Among them, the point cloud data can be collected by the radar device carried by the UAV. The point cloud data collected by the radar device can accurately determine the position of the target boundary.

In one embodiment, for a scene where a windbreak is planted on the border of a plot to resist wind damage, since the height of the windbreak is usually greater than the height of the crops in the plot, and the windbreak is usually arranged linearly, the Recognizing the windbreak forest (boundary) by identifying the characteristic information of the windbreak forest, specifically: extracting the first point cloud data corresponding to the target boundary from the point cloud data according to the preset characteristic information; The spatial orientation information determines the first position information of the target boundary. The target boundary can be accurately identified through the preset feature information, which facilitates subsequent accurate determination of the distance between the current position of the UAV and the target boundary.

Among them, the preset feature information is used to describe the characteristics of the boundary (windbreak forest) of the target plot, that is, the point cloud corresponding to the windbreak in the collected point cloud data is the point cloud corresponding to the boundary of the plot, and the point cloud corresponding to the windbreak The height of each point is greater than the height of each point in the point cloud corresponding to the target plot, and the geometric shape of the object obtained by clustering the point cloud corresponding to the windbreak is linear.

In one embodiment, according to the preset feature information, the method of extracting the first point cloud data corresponding to the target boundary from the point cloud data may be: according to the preset feature information, extracting each of the target parcels from the point cloud data. The point cloud data corresponding to the boundary is obtained, and multiple candidate point cloud data are obtained; according to the spatial orientation information of each point in each candidate point cloud data and the current position information of the UAV, it is determined that it is adjacent to the current operation route of the UAV The boundary of the multiple candidate point cloud data is determined as the first point cloud data corresponding to the target boundary.

Wherein, the point cloud data includes the second point cloud data corresponding to the target plot, the height of each point in the first point cloud data is greater than the height of each point in the second point cloud data, and the first point cloud data The geometric shape of the object obtained by clustering the point cloud data is linear, that is, the shape of the boundary of the target plot is usually a curve or a straight line. The geometric shape of the object obtained by clustering the second point cloud data includes rectangle, diamond, Triangle, circle, ellipse or trapezoid, that is, the shape of the target plot is usually rectangle, rhombus, triangle, circle, ellipse or trapezoid, etc.

In an embodiment, according to the spatial orientation information of each point in the first point cloud data, the method of determining the first position information of the target boundary may be: determining the spatial orientation information of any point in the first point cloud data. is the first position information of the target boundary. Or, according to the spatial orientation information of each point in the first point cloud data, determine the spatial orientation information corresponding to the center point, start point or end point of the target boundary, and map the center point, start point or end point of the target boundary to The spatial orientation information of is determined as the first position information of the target boundary. Or, according to the spatial orientation information of each point in the first point cloud data, an average value of the spatial orientation information is calculated, and the average value of the spatial orientation information is determined as the first position information of the target boundary.

In one embodiment, for a scene in which the boundary of a plot is in contact with a road on a cement road, a gravel road, a gravel road or an asphalt road, the radar cross section (Radar Cross Section, RCS) is obviously different from the radar cross section of the crops in the plot, therefore, the boundary of the plot can be identified by the radar cross section, specifically: according to the radar cross section of each point in the point cloud data, from The first point cloud data corresponding to the target boundary is extracted from the point cloud data; the first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data. The point cloud data includes the second point cloud data corresponding to the target plot, the difference between the radar cross section of each point in the first point cloud data and the radar cross section of each point in the second point cloud data The value is greater than or equal to the preset difference value, and the preset difference value may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. The target boundary can be accurately identified through the radar cross section, which facilitates the subsequent accurate determination of the distance between the current position of the UAV and the target boundary.

In one embodiment, according to the radar cross section of each point in the point cloud data, the method of extracting the first point cloud data corresponding to the target boundary from the point cloud data may be: For the radar cross section, the point cloud data corresponding to each boundary of the target block is extracted from the point cloud data to obtain a plurality of candidate point cloud data; according to the spatial orientation information of each point in each candidate point cloud data and the current position information of the UAV, determine the boundary adjacent to the current operation route of the UAV, and determine the candidate point cloud data corresponding to the boundary adjacent to the current operation route of the UAV among the multiple candidate point cloud data as The first point cloud data corresponding to the target boundary.

S1012. Determine the distance between the current position of the drone and the target boundary according to the first position information and the second position information.

The distance between the current position of the drone and the target boundary includes the vertical distance between the current position of the drone and the target boundary. Exemplarily, coordinate system conversion is performed on the second position information, so that the coordinate system in which the second position information after the coordinate system conversion is located is the same as the coordinate system in which the first position information is located; The converted second position information determines the vertical distance between the current position of the drone and the target boundary.

In one embodiment, the method of obtaining the distance between the current position of the UAV and the target boundary in real time may be: collecting the first image and the second image corresponding to the target land by using an image acquisition device; the first target image area in the image and the second target image area with the target boundary in the second image; according to the first target image area and the second target image area, determine the distance between the current position of the drone and the target boundary the distance. Wherein, the image acquisition device includes a first image acquisition device and a second image acquisition device, the first image is obtained by photographing the target plot by the first image acquisition device, and the second image is obtained by the second image acquisition device on the target The plot was photographed. The distance between the current position of the UAV and the target boundary can be accurately determined by the image acquisition device.

In one embodiment, according to the first target image area and the second target image area, the method of determining the distance between the current position of the drone and the target boundary may be: from the first target image area and the second target image area The matching pairs of feature points corresponding to multiple spatial points on the target boundary are determined in the middle; according to the matching pairs of multiple feature points, the distance between the current position of the UAV and the target boundary is determined.

In one embodiment, according to a plurality of feature point matching pairs, the method of determining the distance between the current position of the UAV and the target boundary may be: according to the plurality of feature point matching pairs, determine the current position of the UAV and the target. The distance between multiple spatial points on the boundary; according to the distance between the current position of the drone and the multiple spatial points on the target boundary, the distance between the current position of the drone and the target boundary is determined, that is, there is no The distance between the current position of the man-machine and any spatial point on the target boundary is determined as the distance between the current position of the drone and the target boundary, or, according to the distance between the current position of the drone and the target boundary. The distance between the space points, the distance average is calculated, and the distance average is determined as the distance between the current position of the drone and the target boundary.

In one embodiment, according to a plurality of feature point matching pairs, the method of determining the distance between the current position of the UAV and the plurality of spatial points on the target boundary may be: according to each feature point matching two in the pair. The pixels of the feature points are determined, and the corresponding pixel difference of each feature point matching pair is determined; the preset focal length and preset binocular distance of the image acquisition device are obtained; according to the preset focal length, preset binocular distance and each feature point matching pair The corresponding pixel difference, the distance between the current position of the drone and multiple spatial points on the target boundary. The preset focal length is determined by calibrating the focal length of the image acquisition device, and the preset binocular distance is determined according to the installation positions of the first image acquisition device and the second image acquisition device in the image acquisition device.

S102. Determine whether to adjust the current spraying width of the UAV according to the distance between the current position of the UAV and the target boundary.

After determining the distance between the current position of the UAV and the target boundary, it is determined whether to adjust the current spraying width of the UAV according to the distance between the current position of the UAV and the target boundary, that is, whether to adjust the current spray width of the UAV. When the distance between the current position and the target boundary meets the preset conditions, adjust the current spraying width of the drone according to the distance between the current position of the drone and the target boundary, so that the drone can adjust the spraying width according to the adjusted spraying width. The target plot is sprayed, and when the distance between the current position of the UAV and the target boundary does not meet the preset conditions, the current spraying width of the UAV is not adjusted. The preset conditions include that the distance between the current position of the drone and the target boundary is smaller than the current spray width of the drone; or the distance between the current position of the drone and the target boundary is greater than the current spray width of the drone , and the current operation route of the UAV is the last operation route of the spraying operation.

In one embodiment, when the distance between the current position of the UAV and the target boundary is less than the current spray width of the UAV, the UAV is reduced according to the distance between the current position of the UAV and the target boundary. the current spray width. By reducing the current spraying width of the drone, the pesticide or chemical fertilizer sprayed by the drone will not exceed the boundary of the target plot during the spraying operation, which can save pesticides or fertilizers, reduce the spraying cost, and improve the spraying effect.

Wherein, the drone includes a spraying device, and the spraying device includes a first spray head assembly and a second spray head assembly. When the spraying width of the drone is not adjusted, the first spraying width of the first spraying head assembly and the second spraying head assembly of the second spraying assembly. The spraying width is the same, but after adjusting the first spraying width or the second spraying width, the first spraying width is different from the second spraying width, and the current spraying width of the drone is the sum of the first spraying width and the second spraying width.

In one embodiment, according to the distance between the current position of the drone and the target boundary, the method of reducing the current spraying width of the drone may be: according to the distance between the current position of the drone and the target boundary, Reduce the first spray width of the first sprinkler assembly so that the reduced first spray width is the same as the distance; or, according to the distance between the current position of the drone and the target boundary, reduce the second sprinkler assembly. The second spray width is such that the reduced second spray width is the same as the distance.

For example, as shown in Figure 5, the UAV 13 is located in the last operation route of the spraying operation, and the distance d between the current position of the UAV and the target boundary is 0.4 meters, and the current spraying width of the UAV is 1 meter , that is, the first spray width and the second spray width are both 0.5 meters. Therefore, the first spray width of the first spray head assembly needs to be reduced, so that the reduced first spray width is the same as 0.4, or the second spray head needs to be reduced. The second spraying width of the component makes the reduced second spraying width the same as 0.4. After adjusting the spraying width, the current spraying width of the drone is 0.9 meters.

In one embodiment, if the first spray head assembly is close to the target boundary, the first spray width of the first spray head assembly is reduced according to the distance between the current position of the drone and the target boundary, so that the reduced first spray width is The spraying width is the same as this distance, and if the second spraying head assembly is close to the target boundary, the second spraying width of the second spraying head assembly is reduced according to the distance between the current position of the drone and the target boundary, so that the reduced The second spray width is the same as this distance. Wherein, the pressure of the first spray head assembly or the second spray head assembly can be reduced by the pressure regulating valve on the spray device to reduce the first spray width of the first spray head assembly or the second spray width of the second spray head assembly.

In one embodiment, when the distance between the current position of the UAV and the target boundary is greater than the current spraying width of the UAV and smaller than the maximum spraying width, and the current operation route is the last operation route of the spraying operation, according to no The distance between the current position of the man-machine and the target boundary increases the current spraying width of the drone. By increasing the current spraying width of the UAV, it can prevent the UAV from missing spraying the plot area at the boundary of the target plot, and improve the spraying effect and user experience.

Wherein, according to the distance between the current position of the drone and the target boundary, the method of increasing the current spraying width of the drone may be: according to the distance between the current position of the drone and the target boundary, increasing the first the first spraying width of the sprinkler head assembly, so that the increased first spraying width is the same as the distance; or according to the distance between the current position of the drone and the target boundary, the second spraying width of the second sprinkler head assembly is increased, Make the increased second spray width the same as this distance. Wherein, the pressure of the first spray head assembly or the second spray head assembly can be increased through the pressure regulating valve on the spray device to increase the first spray width of the first spray head assembly or the second spray width of the second spray head assembly.

For example, as shown in FIG. 6 , the drone 13 is located on the operation route 14, the operation route 14 is the last operation route of the spraying operation, and the distance d between the current position of the drone and the target boundary is 0.6 meters, no The current spraying width of the man-machine is 1 meter, that is, the first spraying width and the second spraying width are both 0.5 meters, and the maximum spraying width is 1.6 meters. Therefore, it is necessary to increase the first spraying width of the first spray head assembly, so that the increase The first spraying width is the same as 0.6, or the second spraying width of the second nozzle assembly is increased, so that the increased second spraying width is the same as 0.6. After adjusting the spraying width, the current spraying width of the drone is 1.1 Meter.

In one embodiment, when the distance between the current position of the UAV and the target boundary is greater than the maximum spraying width of the UAV, and the current operation route is the last operation route of the spraying operation, the operation of the new UAV is added. Route; according to the distance between the newly added operation route and the target boundary, set the target spraying width of the drone on the newly added operation route. By adding a new operation route and setting the target spraying width of the UAV on the newly added operation route, it is possible to prevent the UAV from missing spraying the plot area at the boundary of the target plot, and improve the spraying effect and user experience.

Among them, the operation route of the UAV may be newly added according to the current spraying width of the UAV, or the operation route of the UAV may be added according to the maximum spraying width of the UAV, which is not specifically described in this embodiment of the present application. limited. For example, as shown in FIG. 7 , the drone 13 is located on the operation route 14, the operation route 14 is the last operation route of the spraying operation, and the distance d between the current position of the drone and the target boundary is 1.8 meters, no The current spraying width of the man-machine is 1 meter, that is, the first spraying width and the second spraying width are both 0.5 meters, and the maximum spraying width is 1.6 meters. Therefore, it is necessary to add a new operation route for the drone, and the new operation route is the operation route 20, and the distance between the operation route 20 and the operation route 14 is 1 meter (the current spraying width of the drone), then the distance between the newly added operation route and the target boundary is 1.8-1=0.8 meters , then set the first spraying width of the first sprinkler assembly to 0.8 meters, or set the second spraying width of the second sprinkler assembly to 0.8 meters, then the spraying width of the drone on the operation route of the newly added drone is 0.8+0.5=1.3 meters.

Please refer to FIG. 8 . FIG. 8 is a schematic structural block diagram of an operation control apparatus provided by an embodiment of the present application.

As shown in FIG. 8 , the job control apparatus 200 includes a processor 201 and a memory 202, and the processor 201 and the memory 202 are connected by a bus 203, such as an I2C (Inter-integrated Circuit) bus. The operation control device 200 is applied to an unmanned aerial vehicle, and is used to control the unmanned aerial vehicle to perform a spraying operation.

Specifically, the processor 201 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 202 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.

Wherein, the processor 201 is used for running the computer program stored in the memory 202, and implements the following steps when executing the computer program:

In one embodiment, when the processor determines whether to adjust the current spraying width of the UAV according to the distance between the current position of the UAV and the target boundary, it is used to realize:

When the distance satisfies the preset condition, the current spraying width of the drone is adjusted according to the distance, so that the drone can spray the target plot according to the adjusted spraying width.

In one embodiment, the distance satisfying a preset condition includes:

the distance is less than the current spray width of the drone; or

The distance is greater than the current spraying width of the UAV, and the current operation route of the UAV is the last operation route of the spraying operation.

In one embodiment, when the processor adjusts the current spraying width of the drone according to the distance if the distance satisfies a preset condition, the processor is configured to:

When the distance is smaller than the current spraying width of the drone, the current spraying width of the drone is reduced according to the distance.

In one embodiment, the unmanned aerial vehicle further includes a spraying device, the spraying device includes a first sprinkler head assembly and a second sprinkler head assembly, and the processor realizes reducing the current of the unmanned aerial vehicle according to the distance. When spraying the width, it is used to achieve:

reducing the first spray width of the first spray head assembly according to the distance, so that the reduced first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is reduced, so that the reduced second spray width is the same as the distance.

When the distance is greater than the current spraying width of the UAV and smaller than the maximum spraying width, and the current operation route is the last operation route of the spraying operation, increase the UAV according to the distance the current spray width.

In one embodiment, the unmanned aerial vehicle further includes a spraying device, the spraying device includes a first sprinkler head assembly and a second sprinkler head assembly, and the processor realizes that according to the distance, the current of the unmanned aerial vehicle is increased. When spraying the width, it is used to achieve:

According to the distance, the first spray width of the first spray head assembly is increased, so that the increased first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is increased, so that the increased second spray width is the same as the distance.

In one embodiment, the processor is further configured to implement:

When the distance is greater than the maximum spraying width of the unmanned aerial vehicle, and the current operation route is the last operation route of the spraying operation, adding an operation route of the unmanned aerial vehicle;

According to the distance between the newly added operation route and the target boundary, the target spraying width of the UAV on the newly added operation route is set.

In one embodiment, when the processor realizes the real-time acquisition of the distance between the current position of the UAV and the target boundary, it is used to realize:

Obtain the first position information of the target boundary and the second position information corresponding to the current position of the drone;

According to the first position information and the second position information, the distance between the current position of the drone and the target boundary is determined.

In one embodiment, when the processor acquires the first position information of the target boundary, the processor is configured to:

The preset position information is determined as the first position information of the target boundary.

collecting point cloud data of the environment where the drone is located;

According to the point cloud data, first position information of the target boundary is determined.

In one embodiment, when the processor determines the first position information of the target boundary according to the point cloud data, the processor is configured to:

extracting the first point cloud data corresponding to the target boundary from the point cloud data according to preset feature information, wherein the preset feature information is used to describe the features of the boundary of the target plot;

The first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data.

In one embodiment, the point cloud data includes second point cloud data corresponding to the target plot, and the height of each point in the first point cloud data is greater than that of each point in the second point cloud data. point height.

In one embodiment, the geometric shape of the object obtained by clustering the first point cloud data is linear.

In one embodiment, the geometric shape of the object obtained by clustering the second point cloud data includes a rectangle, a diamond, a triangle, a circle, an ellipse or a trapezoid.

In an embodiment, the point cloud data includes the radar cross section and spatial orientation information of each point, and the processor implements, when determining the first position information of the target boundary according to the point cloud data, for: accomplish:

extracting first point cloud data corresponding to the target boundary from the point cloud data according to the radar cross section of each point in the point cloud data;

In one embodiment, the point cloud data includes second point cloud data corresponding to the target plot, and the radar cross section of each point in the first point cloud data is related to the second point cloud. The difference between the radar cross sections of each point in the data is greater than or equal to the preset difference.

In one embodiment, the unmanned aerial vehicle includes an image acquisition device, and when the processor obtains the distance between the current position of the unmanned aerial vehicle and the target boundary in real time, it is used to achieve:

Collect the first image and the second image corresponding to the target land by using the image acquisition device;

determining a first target image area of the target boundary in the first image and a second target image area of the target boundary in the second image;

According to the first target image area and the second target image area, the distance between the current position of the drone and the target boundary is determined.

In an embodiment, the image acquisition device includes a first image acquisition device and a second image acquisition device, and the first image is obtained by photographing the target plot by the first image acquisition device, so The second image is obtained by photographing the target plot by the second image acquisition device.

In one embodiment, when the processor determines the distance between the current position of the drone and the target boundary according to the first target image area and the second target image area, for accomplish:

Determine from the first target image area and the second target image area, feature point matching pairs corresponding to a plurality of spatial points on the target boundary respectively;

The distance between the current position of the UAV and the target boundary is determined according to the plurality of matching pairs of the feature points.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the job control device described above, reference may be made to the corresponding process in the foregoing job control method embodiments, which is not described here. Repeat.

Please refer to FIG. 9. FIG. 9 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

As shown in FIG. 9 , the UAV 300 includes a body 310 , a spraying device 320 , a power system 330 and an operation control device 340 . The spraying device 320 , the power system 330 and the operation control device 340 are arranged on the body 310 , and the spraying device 320 is used for To realize the spraying operation, the power system 330 provides the flying power for the UAV 300, and the operation control device 340 is used for controlling the UAV to perform the spraying operation.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the UAV described above, reference may be made to the corresponding process in the foregoing embodiment of the operation control method. Repeat.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the job control method.

Wherein, the computer-readable storage medium may be an internal storage unit of the UAV described in any of the foregoing embodiments, such as a hard disk or a memory of the UAV. The computer-readable storage medium can also be an external storage device of the drone, such as a plug-in hard disk equipped on the drone, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A job control method, comprising:

In the process of controlling the drone to spray the target land, the distance between the current position of the drone and the target boundary is obtained in real time, wherein the target boundary includes the boundary of the target land. the border adjacent to the current operating route of the drone;

According to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spraying width of the drone.
The operation control method according to claim 1, wherein the determining whether to adjust the current spraying width of the UAV according to the distance between the current position of the UAV and the target boundary comprises:

When the distance satisfies the preset condition, the current spraying width of the drone is adjusted according to the distance, so that the drone can spray the target plot according to the adjusted spraying width.
The job control method according to claim 2, wherein the distance satisfying a preset condition comprises:

the distance is less than the current spray width of the drone; or

The distance is greater than the current spraying width of the UAV, and the current operation route of the UAV is the last operation route of the spraying operation.
The operation control method according to claim 2, wherein if the distance satisfies a preset condition, adjusting the current spraying width of the drone according to the distance, comprising:

When the distance is smaller than the current spraying width of the drone, the current spraying width of the drone is reduced according to the distance.
The operation control method according to claim 4, wherein the unmanned aerial vehicle comprises a spraying device, and the spraying device comprises a first spray head assembly and a second spray head assembly, and the distance is reduced according to the distance. The current spray width of the drone, including:

reducing the first spray width of the first spray head assembly according to the distance, so that the reduced first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is reduced, so that the reduced second spray width is the same as the distance.
The operation control method according to claim 2, wherein if the distance satisfies a preset condition, adjusting the current spraying width of the drone according to the distance, comprising:

When the distance is greater than the current spraying width of the UAV and smaller than the maximum spraying width, and the current operation route is the last operation route of the spraying operation, increase the UAV according to the distance the current spray width.
The operation control method according to claim 6, wherein the unmanned aerial vehicle comprises a spraying device, and the spraying device comprises a first spray head assembly and a second spray head assembly, and the distance is increased according to the distance. The current spray width of the drone, including:

According to the distance, the first spray width of the first spray head assembly is increased, so that the increased first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is increased, so that the increased second spray width is the same as the distance.
The job control method according to claim 6, wherein the method further comprises:

When the distance is greater than the maximum spraying width of the unmanned aerial vehicle, and the current operation route is the last operation route of the spraying operation, adding an operation route of the unmanned aerial vehicle;

According to the distance between the newly added operation route and the target boundary, the target spraying width of the UAV on the newly added operation route is set.
The operation control method according to any one of claims 1-8, wherein the obtaining the distance between the current position of the UAV and the target boundary in real time comprises:

Obtain the first position information of the target boundary and the second position information corresponding to the current position of the drone;

According to the first position information and the second position information, the distance between the current position of the drone and the target boundary is determined.
The job control method according to claim 9, wherein the acquiring the first position information of the target boundary comprises:

The preset position information is determined as the first position information of the target boundary.
The job control method according to claim 9, wherein the acquiring the first position information of the target boundary comprises:

collecting point cloud data of the environment where the drone is located;

According to the point cloud data, first position information of the target boundary is determined.
The job control method according to claim 11, wherein the determining the first position information of the target boundary according to the point cloud data comprises:

extracting the first point cloud data corresponding to the target boundary from the point cloud data according to preset feature information, wherein the preset feature information is used to describe the features of the boundary of the target plot;

The first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data.
The operation control method according to claim 12, wherein the point cloud data comprises second point cloud data corresponding to the target land block, and the height of each point in the first point cloud data is greater than that of all points in the first point cloud data. the height of each point in the second point cloud data.
The job control method according to claim 13, wherein the geometric shape of the object obtained by clustering the first point cloud data is linear.
The job control method according to claim 13, wherein the geometric shape of the object obtained by clustering the second point cloud data comprises a rectangle, a diamond, a triangle, a circle, an ellipse or a trapezoid.
The operation control method according to claim 11, wherein the point cloud data includes radar cross section and spatial orientation information of each point, and the first step of determining the target boundary is determined according to the point cloud data. Location information, including:

extracting first point cloud data corresponding to the target boundary from the point cloud data according to the radar cross section of each point in the point cloud data;

The first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data.
The operation control method according to claim 16, wherein the point cloud data comprises second point cloud data corresponding to the target plot, the radar of each point in the first point cloud data The difference between the scattering cross section and the radar scattering cross section of each point in the second point cloud data is greater than or equal to a preset difference.
The operation control method according to any one of claims 1-8, wherein the UAV comprises an image acquisition device, and the real-time acquisition of the distance between the current position of the UAV and the target boundary ,include:

Collect the first image and the second image corresponding to the target land by using the image acquisition device;

determining a first target image area of the target boundary in the first image and a second target image area of the target boundary in the second image;

According to the first target image area and the second target image area, the distance between the current position of the drone and the target boundary is determined.
The job control method according to claim 18, wherein the image capturing device comprises a first image capturing device and a second image capturing device, and the first image is a The second image is obtained by photographing the target land parcel, and the second image is obtained by photographing the target land parcel by the second image acquisition device.
The operation control method according to claim 19, wherein the distance between the current position of the drone and the target boundary is determined according to the first target image area and the second target image area distance, including:

Determine from the first target image area and the second target image area, feature point matching pairs corresponding to a plurality of spatial points on the target boundary respectively;

The distance between the current position of the UAV and the target boundary is determined according to the plurality of matching pairs of the feature points.
An operation control device, characterized in that, applied to an unmanned aerial vehicle, the operation control device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In the process of controlling the drone to spray the target land, the distance between the current position of the drone and the target boundary is obtained in real time, wherein the target boundary includes the boundary of the target land. the border adjacent to the current operating route of the drone;

According to the distance between the current position of the drone and the target boundary, it is determined whether to adjust the current spraying width of the drone.
The operation control device according to claim 21, wherein the processor realizes when determining whether to adjust the current spraying width of the UAV according to the distance between the current position of the UAV and the target boundary , which is used to implement:

When the distance satisfies the preset condition, the current spraying width of the drone is adjusted according to the distance, so that the drone can spray the target plot according to the adjusted spraying width.
The operation control device according to claim 22, wherein the distance satisfying a preset condition comprises:

the distance is less than the current spray width of the drone; or

The distance is greater than the current spraying width of the UAV, and the current operation route of the UAV is the last operation route of the spraying operation.
The operation control device according to claim 22, wherein the processor realizes that if the distance satisfies a preset condition, when the current spraying width of the drone is adjusted according to the distance, the processor is used to realize:

When the distance is smaller than the current spraying width of the drone, the current spraying width of the drone is reduced according to the distance.
The operation control device according to claim 24, wherein the unmanned aerial vehicle further comprises a spraying device, and the spraying device comprises a first spray head assembly and a second spray head assembly, and the processor realizes, according to the distance, When reducing the current spray width of the drone, it is used to achieve:

reducing the first spray width of the first spray head assembly according to the distance, so that the reduced first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is reduced, so that the reduced second spray width is the same as the distance.
The operation control device according to claim 22, wherein the processor realizes that if the distance satisfies a preset condition, when the current spraying width of the drone is adjusted according to the distance, the processor is used to realize:

When the distance is greater than the current spraying width of the UAV and smaller than the maximum spraying width, and the current operation route is the last operation route of the spraying operation, increase the UAV according to the distance the current spray width.
The operation control device according to claim 26, wherein the unmanned aerial vehicle further comprises a spraying device, the spraying device comprises a first spray head assembly and a second spray head assembly, and the processor implements the distance according to the distance, When increasing the current spray width of the drone, it is used to achieve:

According to the distance, the first spray width of the first spray head assembly is increased, so that the increased first spray width is the same as the distance; or

According to the distance, the second spray width of the second spray head assembly is increased, so that the increased second spray width is the same as the distance.
The job control device of claim 26, wherein the processor is further configured to:

When the distance is greater than the maximum spraying width of the unmanned aerial vehicle, and the current operation route is the last operation route of the spraying operation, adding an operation route of the unmanned aerial vehicle;

According to the distance between the newly added operation route and the target boundary, the target spraying width of the UAV on the newly added operation route is set.
The operation control device according to any one of claims 21-28, wherein when the processor realizes the real-time acquisition of the distance between the current position of the UAV and the target boundary, it is used to realize:

Obtain the first position information of the target boundary and the second position information corresponding to the current position of the drone;

According to the first position information and the second position information, the distance between the current position of the drone and the target boundary is determined.
The job control device according to claim 29, wherein when the processor obtains the first position information of the target boundary, the processor is configured to:

The preset position information is determined as the first position information of the target boundary.
The job control device according to claim 29, wherein when the processor obtains the first position information of the target boundary, the processor is configured to:

collecting point cloud data of the environment where the drone is located;

According to the point cloud data, first position information of the target boundary is determined.
The job control device according to claim 31, wherein when the processor determines the first position information of the target boundary according to the point cloud data, the processor is configured to:

extracting the first point cloud data corresponding to the target boundary from the point cloud data according to preset feature information, wherein the preset feature information is used to describe the features of the boundary of the target plot;

The first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data.
The operation control device according to claim 32, wherein the point cloud data includes second point cloud data corresponding to the target land block, and the height of each point in the first point cloud data is greater than that of all points in the first point cloud data. the height of each point in the second point cloud data.
The work control device according to claim 33, wherein the geometric shape of the object obtained by clustering the first point cloud data is linear.
The job control device according to claim 33, wherein the geometric shape of the object obtained by clustering the second point cloud data comprises a rectangle, a diamond, a triangle, a circle, an ellipse or a trapezoid.
The operation control device according to claim 31, wherein the point cloud data includes radar cross section and spatial orientation information of each point, and the processor determines the target boundary according to the point cloud data The first position information of , is used to achieve:

extracting first point cloud data corresponding to the target boundary from the point cloud data according to the radar cross section of each point in the point cloud data;

The first position information of the target boundary is determined according to the spatial orientation information of each point in the first point cloud data.
The operation control device according to claim 36, wherein the point cloud data comprises second point cloud data corresponding to the target plot, the radar of each point in the first point cloud data The difference between the scattering cross section and the radar scattering cross section of each point in the second point cloud data is greater than or equal to a preset difference.
The operation control device according to any one of claims 21 to 28, wherein the UAV includes an image acquisition device, and the processor realizes real-time acquisition of the difference between the current position of the UAV and the target boundary When the distance between is used to achieve:

Collect the first image and the second image corresponding to the target land by using the image acquisition device;

determining a first target image area of the target boundary in the first image and a second target image area of the target boundary in the second image;

According to the first target image area and the second target image area, the distance between the current position of the drone and the target boundary is determined.
The job control device according to claim 38, wherein the image capturing device comprises a first image capturing device and a second image capturing device, and the first image is a The second image is obtained by photographing the target land parcel, and the second image is obtained by photographing the target land parcel by the second image acquisition device.
The operation control device according to claim 38, wherein the processor realizes determining the current position of the drone and the target according to the first target image area and the second target image area When the distance between the boundaries is used to achieve:

Determine from the first target image area and the second target image area, feature point matching pairs corresponding to a plurality of spatial points on the target boundary respectively;

The distance between the current position of the UAV and the target boundary is determined according to the plurality of matching pairs of the feature points.
An unmanned aerial vehicle, characterized in that it includes:

body;

a spraying device, which is arranged on the body and is used to realize the spraying operation;

a power system, arranged on the body, for providing flight power for the drone;

The operation control device according to any one of claims 21 to 40, provided in the machine body, and used for controlling the drone to perform spraying operation.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor can realize the implementation of any one of claims 1-20. The steps of the job control method.