WO2022094961A1

WO2022094961A1 - Non-human-controlled robot control method and apparatus, and non-human-controlled robot

Info

Publication number: WO2022094961A1
Application number: PCT/CN2020/127239
Authority: WO
Inventors: 贾向华; 王璐; 闫光
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2022-05-12
Also published as: CN114787727A

Abstract

Provided are non-human-controlled robot control method and control apparatus (100), non-human-controlled robot, control terminal, and storage medium, the method comprising: determining a first position point and a second position point on a path of a non-human-controlled robot, the first location point being a location point where the remaining energy of an energy supply component is less than or equal to a preset energy threshold when moving along the path, the second location point being a location point where the remaining material is less than or equal to a preset material threshold when moving along the path (S101); obtaining a return point of the non-human-controlled robot (S102); according to the first position point, the second position point, and the return point, determining a third position point on the path (S103); when the non-human-controlled robot moves along the path to the third position point, controlling the non-human-controlled robot to return from the third position point to the return point (S104).

Description

Control method and device for unmanned control robot, and unmanned control robot

technical field

The present application relates to the technical field of unmanned control robots, and in particular, to a control method, a control device, an unmanned control robot, a control terminal and a storage medium for an unmanned control robot.

Background technique

As a machine that can carry out efficient spraying operations, plant protection drones have developed rapidly in recent years. During the flight operation, the plant protection drone will continuously consume the amount of medicine, electricity, fuel, etc. The operation process cannot be continuous, and the operation will be interrupted and replenished in the middle.

At present, the judgment of the position of the plant protection drone to supplement the medicine mainly relies on the flying experience of the plant protection drone operator: the operator roughly judges the plant protection drone through the remaining dose displayed on the APP and the flight speed of the plant protection drone. Where will the drone interrupt the mission and return to supply. In this way, the operation burden of the user is increased, and the operation efficiency is very low.

SUMMARY OF THE INVENTION

Based on this, the present application provides a control method, a control device, an unmanned control robot, a control terminal, and a storage medium for an unmanned robot.

In a first aspect, the present application provides a control method for an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, the method include:

Determine the first position point and the second position point on the path of the unmanned control robot, wherein the first position point is when the unmanned control robot moves along the path, the energy consumption of the energy supply component is less than or equal to the remaining energy. A position point equal to a preset energy threshold, and the second position point is a position point when the unmanned robot moves along the path until the material is consumed until the remaining material is less than or equal to the preset material threshold;

Get the return point of the unmanned robot;

determining a third position point on the path according to the first position point, the second position point and the return point;

When the unmanned control robot moves to the third position point along the path, the unmanned control robot is controlled to return from the third position point to the return point.

In a second aspect, the present application provides a control device for an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, the device Including: memory and 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:

Get the return point of the unmanned robot;

In a third aspect, the present application provides an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, the unmanned control robot Also included is the control device for the unmanned robot as described above.

In a fourth aspect, the present application provides a control terminal for an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, the control The terminal includes the control device of the unmanned robot as described above.

In a fifth aspect, the present application 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 enables the processor to realize the above-mentioned unmanned control robot control method.

The embodiments of the present application provide a control method, a control device, an unmanned control robot, a control terminal and a storage medium for an unmanned controlled robot. point, determine the third position point on the path of the unmanned control robot, and control the unmanned control robot to return from the third position point to the return point, so that the unmanned control robot can be supplemented with energy and/or materials at the return point, The operation burden of the user is reduced, and the work efficiency of the unmanned robot can be improved.

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 flowchart of an embodiment of a control method for an unmanned robot controlled by the present application;

2 is a schematic flowchart of another embodiment of a control method for an unmanned robot controlled by the present application;

3 is a schematic flowchart of another embodiment of a control method for an unmanned robot controlled by the present application;

4 is a schematic flowchart of another embodiment of a control method for an unmanned robot controlled by the present application;

5 is a schematic diagram of determining a third position point in an application of a control method for an unmanned robot controlled by the present application;

6 is a schematic diagram of determining a third position point in another application of the control method for an unmanned robot controlled by the present application;

FIG. 7 is a schematic structural diagram of an embodiment of a control device for an unmanned robot controlled by 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.

During the flight operation, the plant protection drone will continuously consume the amount of medicine, electricity, fuel, etc., and it needs to interrupt the operation and replenish it in the middle of the operation. The judgment of the position of the plant protection drone to replenish the medicine is mainly: the operator can roughly judge where the plant protection drone will interrupt the mission through the remaining amount of medicine displayed on the APP, combined with the flight speed of the plant protection drone, and return to the voyage for replenishment. . In this way, the operation burden of the user is increased, and the operation efficiency is very low.

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.

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of an embodiment of a control method for an unmanned robot controlled by the present application.

The unmanned robot in this embodiment may refer to a robot that can use its own power system to move under user control or automatic control. Sprinklers for holding and spraying materials. For example: unmanned aerial vehicles, unmanned ground robots (including unmanned agricultural vehicles, unmanned agricultural robots, unmanned sprinklers, etc.), unmanned ships (including unmanned fishing vessels, etc.), and so on.

The energy supply components of the unmanned robot include but are not limited to: batteries, fuel energy supply components (such as gasoline, diesel, etc.). In many application scenarios, batteries are often used for energy supply components. In different applications and/or specific operations, the spraying device contains and sprays different materials, including but not limited to: pesticides, feed, seeds, fertilizers or water.

The method includes: step S101, step S102, step S103 and step S104.

Step S101: Determine a first position point and a second position point on the path of the unmanned control robot, wherein the first position point is the energy consumption of the energy supply components when the unmanned control robot moves along the path to the remaining amount. The position point where the energy is less than or equal to the preset energy threshold value, and the second position point is the position point when the unmanned control robot moves along the path until the material is consumed until the remaining material is less than or equal to the preset material threshold value.

The path of the unmanned robot may refer to a pre-planned route of the unmanned robot to move. For example, the route of the unmanned aerial vehicle, the path of the unmanned agricultural vehicle, and so on. Specifically, the user can use the control terminal to plan the target area for performing the spraying task, and plan the movement path of the unmanned robot when the spraying task is performed for the target area. When the spraying task is performed, the unmanned control robot move along the path. Plant protection UAVs can plan route missions for autonomous operations by means of surveying and mapping, flight management, etc., and can upload route mission information to the flight control system through the image transmission system. The route mission information includes the location of each waypoint and other related information.

The unmanned robot will consume energy in the process of moving along the path. If the unmanned robot does not return before the energy is exhausted, the unmanned robot cannot continue to move when the energy is exhausted. If the unmanned robot is an unmanned aerial vehicle and does not return before running out of energy, it is fatal to the unmanned aerial vehicle and will directly lead to the crash of the unmanned aerial vehicle. For other unmanned robots, it also needs to be specifically towed back. Therefore, the unmanned robot needs to return before it runs out of energy.

The preset energy threshold value can be a preset energy value that is preset to indicate that the unmanned control robot needs to return to the return point, and the preset energy threshold value can ensure that the unmanned control robot returns (that is, from a certain point on the path to the return point). The energy required for the return point) ensures that the unmanned robot has a minimum energy required for returning (that is, when the energy is exhausted and there is no excess energy when it reaches the return point), the preset energy threshold can be greater than or equal to the minimum energy. When the path of the unmanned robot is known, the energy consumption of the energy supply components when the unmanned robot moves along the path can be determined by combining the current energy information, moving speed information, and path point information on the path, etc. to the first position point where the remaining energy is less than or equal to the preset energy threshold.

The unmanned robot will spray materials during the movement process, and the materials will be consumed in the process of spraying materials. If the materials are exhausted, they cannot continue to spray the materials, and they need to return to replenish the materials to continue the operation.

The preset material threshold can be a preset material value that is preset to indicate that the unmanned robot needs to return to the return point. The unmanned robot can return before the material is exhausted, or it can return after the material is exhausted. The preset material threshold may be greater than zero or equal to zero. When the path of the unmanned robot is known, combined with the current material information, material spraying information, etc., it can be determined that when the unmanned robot moves along the path, the material is consumed until the remaining material is less than or equal to the preset material threshold. Second location point.

Step S102: Obtain the return point of the unmanned robot.

The path of the unmanned robot includes the starting path point and the ending path point of the path. The path direction can be the delayed direction from the starting path point of the path to the ending path point of the path, and the return point of the unmanned robot can be the deviation The position point returned from the path for the path direction.

The return point includes but is not limited to: a position point when the unmanned control robot is powered on, a position point designated by a user of the unmanned control robot, or a position point where the unmanned control robot starts to move. If the unmanned robot is an unmanned aerial vehicle, the starting point of the movement can be the take-off position of the unmanned aerial vehicle.

Wherein, when the return point is a position point designated by the user of the unmanned control robot, it may be a position point pre-designated by the user before the unmanned control robot starts to move, or it may be designated by the user during the movement of the unmanned control robot. The position point of the robot, or both the position point pre-specified by the user before the unmanned control robot starts to move, and the position point specified by the user during the movement of the unmanned control robot, or the user can also change the position point during the movement of the unmanned control robot. The previously specified location point, and so on.

It should be noted that there is no clear sequence relationship between step S101 and step S102.

Step S103: Determine a third position point on the path according to the first position point, the second position point and the return point.

Step S104 : when the unmanned control robot moves to the third position point along the path, control the unmanned control robot to return from the third position point to the return point.

In this embodiment, the third position point is a point on the path, which is determined according to the first position point, the second position point and the return point. When the unmanned robot moves along the path to When the third position point is reached, the unmanned robot will return from the third position point to the return point.

Since the remaining energy of the power supply components of the unmanned robot and the remaining materials in the spraying device are considered when determining the third point on the path, in many application scenarios, the return point can be selected at the unmanned robot. A point where the unmanned robot can be replenished (ie, energy and/or material) after returning. That is, the function of the return point may be one or more of replenishing materials for the spraying device of the unmanned robot, replacing the energy supply components, and supplementing energy for the energy supply components.

In one embodiment, the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned control robot returns from the third position point to the return point.

In the embodiment of the present application, by considering the remaining energy and remaining materials of the energy supply components of the unmanned control robot, and combining with the return point, a third position point is determined on the path of the unmanned control robot, and the unmanned control robot is controlled from the third position point. Returning to the return point can replenish energy and/or materials for the unmanned robot at the return point, reduce the user's operating burden, and improve the operation efficiency of the unmanned robot.

In one embodiment, in most application scenarios, after the unmanned robot returns to the return point, the return point usually provides replenishment (replenishing energy, replenishing materials), and the user replenishes the unmanned robot with materials and fuel, and replenishes the battery. Charge or replace the charged battery, etc., and then the unmanned robot will continue to spray the material from the return point and back to the third position.

That is, in step S104 , after the control of the unmanned robot to return from the third position point to the return point, it may further include: step S105 and step S106 , as shown in FIG. 2 .

Step S105: Record the third position point.

Step S106: After the unmanned control robot returns to the return point, in response to the recovery movement instruction information, control the unmanned control robot to return from the return point to the recorded third position point and continue to move along the move the above path.

In this embodiment, the function of the return point may be one or more of replenishing materials to the spraying device, replacing the energy supply components, and supplementing energy for the energy supply components.

The recovery movement indication information may be triggered by the user and generated, or the unmanned control robot may detect that the energy of the energy supply component has increased to less than or equal to the reference energy threshold and/or the material of the spray device has increased to less than or equal to the reference energy threshold. When equal to the reference material threshold, a recovery movement indication is generated. Wherein, the reference energy threshold is greater than the preset energy threshold and less than or equal to the maximum energy value that the energy supply component can carry; the reference material threshold is greater than the preset material threshold and less than or equal to the maximum material quantity that the spray device can hold.

In one embodiment, the execution body of the method in this embodiment may be an unmanned robot, and the unmanned robot is also equipped with a control terminal for user control. /or the first position point and the second position point are sent to the control terminal to be displayed on the control terminal, which is convenient for users to observe, and it is convenient for users to send control instructions to the unmanned robot according to the observation situation. In this way, it is possible to increase the User's sense of participation, increase user experience and provide technical support.

That is, the method may further include: sending the position information of the third position point to the control terminal, so that the control terminal displays the third position point. The method may further include: sending the position information of the first position point and the second position point to the control terminal, so that the control terminal displays the first position point and the second position point.

In another embodiment, the execution body of the method in this embodiment may be a control terminal equipped with the unmanned control robot for the user to operate and control. When the control terminal determines the first position point, the second position point, the first position After the three points are clicked, it can be displayed on the display device, which is convenient for the user to observe, and it is convenient for the user to send control instructions to the unmanned robot according to the observation situation. In this way, it can increase the user's sense of participation and increase user experience. .

That is, the method may further include: controlling the display device of the control terminal to display the path and the third position point. The method may further include: displaying the first position point and the second position point on the display device at the control end.

By displaying the path on the control terminal, the first position point, the second position point, and the third position point on the path, the user can intuitively observe the movement process of the unmanned robot on the display screen of the control terminal. When the robot is about to move to the third position, the user can send a return command to the unmanned robot through the control terminal. After the unmanned robot receives the return command, when it moves to the third position, it will return from the third position to the return If you return to the point where you can replenish supplies, you can replenish supplies (replenish energy, materials) at the return point

At the same time, during the operation of the unmanned robot, if the user updates the position of the return point or updates the operation parameters (for example, updating the material spraying information, updating the path, etc.), the method of this embodiment will be re-executed in real time to complete the third step. Determination and display of location points.

The details of step S103 will be described in detail below.

In one embodiment, according to the remaining energy and materials, it is determined which one consumes the preset threshold first, and the third position point is determined by reaching the position point corresponding to the threshold value and the return point first.

That is, in step S103, the determining a third position point on the path according to the first position point, the second position point and the return point may include: sub-step S1031 and sub-step S1032, as shown in FIG. 3 .

Sub-step S1031: Determine a target position point from the first position point and the second position point, wherein the path includes a start path point and an end path point of the path, and the target position point is the first position point and A position point in the second position point that is close to the starting path point along a path direction, where the path direction is a direction extending along the path from the starting path point of the path to the ending path point of the path.

Sub-step S1032: Determine the third position point according to the target position point and the return point.

The path includes the starting path point and the ending path point of the path, and the path direction is the direction extending from the starting path point of the path to the ending path point of the path along the path. Depending on the consumption of energy and materials, whichever consumes the remaining amount will reach the preset threshold first, and the remaining amount will first arrive at the position corresponding to the preset threshold (the first position point or the second position point) close to the starting path of the path point, the corresponding position point is the target position point.

The third position point is determined according to the target position point and the return point, and a relatively accurate and suitable third position point can be obtained.

The planned paths have various shapes, such as circular paths, square paths, bow-shaped paths, and so on. The most common of these is that the path is composed of multiple path segments. That is, the path includes a plurality of path segments, and the path segments include the starting path points of the path segments. In this case, sub-step S1032, the determining of the third position point according to the target position point and the return point, may include: sub-step S10321, sub-step S10322 and sub-step S10323, as shown in FIG. 4 . Show.

Sub-step S10321: Determine the target path segment where the target location point is located from the multiple path segments.

Sub-step S10322: Determine the projected position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located.

Sub-step S10323: Determine the third position point according to the projected position point.

In this embodiment, since the projection position point is the closest position point to the return point, and the third position point is determined according to the projection position point, the optimal third position point can be obtained. When the unmanned control robot is working, it can reduce the no-load moving distance and improve the operation efficiency of the unmanned control robot.

When the projection position point corresponding to the return point is on the target path segment, it is necessary to compare the distances between the projection position point, the target position point and the starting path point of the target path segment, respectively. Position point) Select the position point closest to the starting path point of the target path segment as the third position point.

When the projected position point corresponding to the return point is not on the target path segment, but is on the target line where the target path segment is located, it is necessary to compare the distances between the start path point, the target position point and the return point of the target path segment respectively. , select the position closest to the return point as the third position point from the two (the starting path point of the target path segment, the target position point).

That is, the sub-step S10323 may specifically include the following situations:

In the first case, the projection position point is on the target path segment, and the projection position point is close to the starting path point of the target path segment, then the projection position point is determined as the third position point, that is, sub-step S10323 , the determining the third position point according to the projection position point may include: if the projection position point is on the target path segment and the projection position point is along the path relative to the target position point When the direction is close to the starting path point of the target path segment, the projected position point is determined as the third position point.

The second case is that the projection position point is on the target path segment, but the projection position point is not close to the starting path point of the target path segment, and the target position point is close to the starting path point of the target path segment, then Determining the target position point as the third position point, that is, sub-step S10323, the determining the third position point according to the projection position point may include: if the projection position point is on the target path segment and When the target position point is close to the starting path point of the target path segment along the path direction relative to the projected position point, the target position point is determined as the third position point.

The third case is that the projected position point is not on the target path segment (on the target line where the target path segment is located), according to the distance between the starting path point, the target position point and the return point of the target path segment, respectively, Selecting the position point closest to the return point from the two as the third position point, that is, sub-step S10323, the determining the third position point according to the projection position point may include: if the projection position point is not in the When on the target path segment, determine the first distance between the starting path point of the target path segment and the return point and the second distance between the target location point and the return point; according to the The first distance and the second distance determine a third position point, wherein the third position point is the starting path point of the target path segment and the position with a smaller distance from the return point in the target position point point.

The method of the embodiment of the present application will be described in detail below by taking the unmanned robot as an unmanned aerial vehicle (ie, an unmanned aerial vehicle), the energy supply component as a battery, and the material as a pesticide as an example.

The method of this embodiment mainly includes the following steps: uploading the operation route (that is, the path), calculating the location point without medicine (that is, the second location point) and the location point without electricity (that is, the first location point), and replenishing the location point (that is, the second location point) The third position point) is calculated, the replenishment position point is displayed, the plant protection operation is performed, the home point (ie the return point) is dynamically refreshed, and the position of the replenishment point is recalculated.

Plant protection UAVs can plan route tasks for autonomous operations by means of surveying and mapping, flight management, etc., and can upload route task information to the flight control system through the image transmission system. The route task information includes the location of each waypoint and other related information.

The flight control system can obtain the current drug dose information and power information of the UAV through the existing technology. According to the current drug dose information and power information of the UAV, combined with the route information, the drug-free position point P1 and the no-power position on the route can be calculated. Point P2, where the calculation of point P2 without electricity needs to consider that the drone can fly back to the home point from point P2.

Referring to Figure 5 and Figure 6 in combination, the flight control system can calculate the optimal replenishment position according to the calculated no-drug position point P1 and no-power position point P2, combined with route-related information. The specific process is as follows:

1) According to the drug-free position point P1 and the no-electricity position point P2, the flight control system determines the position point at the front of the two points P1 and P2 (that is, the target position point, and the direction of the arrow in the figure is the path direction), and The position point (ie the target position point) is set as P, and the endpoint of the route segment where the point P is located (ie the starting path point of the path segment) T is determined.

2) The flight control system acquires the home point H for returning to home, and the position H can be refreshed by the user through the remote control, which is used for the user to adjust the home point in time.

3) As shown in Figure 5, determine the projected position point S of the return point H on the straight line (that is, the target straight line) where the route segment MT is located, if the projected location point S is on the route segment MT, then judge that point S and point P are respectively. The relative positional relationship with point T, if point P is close to point T, point P is taken as the optimal replenishment position point (ie, the third position point), otherwise, point S is taken as the optimal replenishment position point.

4) As shown in Figure 6, if the projected position point S of the return point H on the straight line where the route segment MT is located (that is, the target straight line) is not on the route segment MT, on the extension line of the MT (shown by the dotted line in the figure), Then it is necessary to compare the lengths of the line segments PH and TH. If PH is less than TH, point P is taken as the optimal replenishment position; otherwise, point T is taken as the optimal replenishment position.

The flight control system pushes the optimal replenishment position point to the application program APP of the control terminal, and the display device of the control terminal displays the APP, and the APP can display the optimal replenishment position point. The displayed optimal replenishment position, when the aircraft is close to the optimal replenishment position, control the aircraft to return home, so as to facilitate the replenishment of the aircraft.

At the same time, during the operation, if the user updates the position of the home point or updates the operation parameters, the above steps will be re-executed in real time to complete the determination and display of the optimal replenishment point.

Through the above steps, the user's operational burden can be reduced, and the work efficiency can be improved.

Referring to FIG. 7, FIG. 7 is a schematic structural diagram of an embodiment of a control device for an unmanned control robot of the present application. The unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a power supply for containing and spraying materials. spray device. It should be noted that the control device of this embodiment can execute the steps in the above-mentioned control method for an unmanned robot. For a detailed description of the relevant content, please refer to the relevant content of the above-mentioned control method for an unmanned robot, which will not be repeated here. Syria.

The control device 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.

Wherein, the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.

Wherein, the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:

Determine the first position point and the second position point on the path of the unmanned control robot, wherein the first position point is when the unmanned control robot moves along the path, the energy consumption of the energy supply component is less than or equal to the remaining energy. The position point equal to the preset energy threshold value, the second position point is the position point where the material is consumed until the remaining material is less than or equal to the preset material threshold value when the unmanned control robot moves along the path; obtain the return point of the unmanned control robot ; Determine a third position point on the route according to the first position point, the second position point and the return point; when the unmanned control robot moves to the third position point along the path, control the unmanned robot to move to the third position point. The human controls the robot to return from the third position point to the return point.

Wherein, the materials include pesticides, feed, seeds, fertilizers or water.

Wherein, the energy supply component includes a battery.

Wherein, the return point includes a position point when the unmanned control robot is turned on, a position point designated by a user of the unmanned control robot, or a position point where the unmanned control robot starts to move.

Wherein, the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned robot returns from the third position point to the return point.

Wherein, when executing the computer program, the processor implements the following steps: recording the third position point; after the unmanned control robot returns to the return point, in response to restoring the movement instruction information, controlling the unmanned robot The human-controlled robot moves back from the return point to the recorded third position point and continues to move along the path.

Wherein, when executing the computer program, the processor implements the following steps: sending the position information of the third position point to the control terminal, so that the control terminal displays the third position point.

Wherein, when executing the computer program, the processor implements the following steps: sending the position information of the first position point and the second position point to the control terminal, so that the control terminal displays the first position point and the second position point. the second location point.

Wherein, when the processor executes the computer program, the following steps are implemented: controlling the display device of the control terminal to display the path and the third position point.

Wherein, when executing the computer program, the processor implements the following steps: displaying the first position point and the second position point on the display device at the end of the control.

Wherein, when executing the computer program, the processor implements the following steps: determining a target position point from the first position point and the second position point, wherein the path includes a start path point and an end point of the path A path point, the target position point is a position point in the first position point and the second position point that is close to the starting path point along the path, and the path direction is the path from the starting path point of the path to the path along the path. The direction extending on the termination path point; the third position point is determined according to the target position point and the return point.

Wherein, when executing the computer program, the processor implements the following steps: determining the target path segment where the target position point is located from the multiple path segments; determining the projected position of the return point on the target straight line The target straight line is the straight line where the target path segment is located; the third position point is determined according to the projected position point.

Wherein, when executing the computer program, the processor implements the following steps: if the projection position point is on the target path segment and the projection position point is close to the target position point along the path direction When the target path segment is the starting path point, the projected position point is determined as the third position point.

Wherein, when executing the computer program, the processor implements the following steps: if the projection position point is on the target path segment and the target position point is close to the projection position point along the path direction When the target path segment is the starting path point, the target position point is determined as the third position point.

Wherein, when executing the computer program, the processor implements the following steps: if the projection position point is not on the target path segment, determining the difference between the starting path point of the target path segment and the return point The first distance between and the second distance between the target position point and the return point; a third position point is determined according to the first distance and the second distance, wherein the third position point is A starting point of the target path segment and a position point with a smaller distance from the return point among the target position points.

The application also provides an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, and the unmanned control robot also includes the above The control device of any one of the unmanned control robots except that the execution body is a control terminal. For a detailed description of the related content, please refer to the above-mentioned part of the control device of the unmanned robot, which will not be repeated here.

The present application also provides a control terminal for an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, and the control terminal includes the above The control device of any one of the unmanned control robots except that the execution body is an unmanned control robot. For a detailed description of the related content, please refer to the above-mentioned part of the control device of the unmanned robot, which will not be repeated here.

The present application also 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 enables the processor to implement the unmanned control robot described in any one of the above control method. For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the above-mentioned control device, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

It should be understood that the terms used in the specification of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application.

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 control method for an unmanned control robot, the unmanned control robot comprises an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, wherein the method includes:

Determine the first position point and the second position point on the path of the unmanned control robot, wherein the first position point is when the unmanned control robot moves along the path, the energy consumption of the energy supply component is less than or equal to the remaining energy. A position point equal to a preset energy threshold, and the second position point is a position point when the unmanned robot moves along the path until the material is consumed until the remaining material is less than or equal to the preset material threshold;

Get the return point of the unmanned robot;

determining a third position point on the path according to the first position point, the second position point and the return point;

When the unmanned control robot moves to the third position point along the path, the unmanned control robot is controlled to return from the third position point to the return point.
The method of claim 1, wherein the material comprises pesticides, feed, seeds, fertilizers or water.
The method of claim 1, wherein the power supply component comprises a battery.
The method according to claim 1, wherein the return point comprises a position point when the unmanned control robot is turned on, a position point specified by a user of the unmanned control robot, or a position point where the unmanned control robot starts to move .
The method according to claim 1, wherein the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned robot returns from the third position point to the return point.
The method according to claim 1, wherein the method further comprises:

recording the third position point;

After the unmanned robot returns to the return point, the unmanned robot is controlled to return from the return point to the recorded third position point and continue to move along the path in response to the recovery movement instruction information .
The method according to claim 1, wherein the method further comprises: sending the position information of the third position point to the control terminal, so that the control terminal displays the third position point.
The method according to claim 1, wherein the method further comprises: sending the position information of the first position point and the second position point to a control terminal, so that the control terminal displays the first position point and the second location point.
The method according to claim 1, wherein the method further comprises: controlling a display device of a control terminal to display the path and the third position point.
The method according to claim 1, wherein the method further comprises: displaying the first position point and the second position point on the display device at the end of the control.
The method according to claim 1, wherein the determining a third position point on the path according to the first position point, the second position point and the return point comprises:

A target position point is determined from the first position point and the second position point, wherein the path includes a start path point and an end path point of the path, and the target position point is the first position point and the second position point A position point close to the starting path point along the path direction, the path direction is the direction extending along the path from the starting path point of the path to the ending path point of the path;

The third position point is determined according to the target position point and the return point.
The method of claim 11, wherein the path includes a plurality of path segments, the path segments include a starting path point of the path segment, wherein the path according to the target position point and the return point Determining the third location point includes:

determining a target path segment where the target location point is located from the plurality of path segments;

Determine the projected position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located;

The third position point is determined according to the projected position point.
The method according to claim 12, wherein the determining the third position point according to the projected position point comprises:

If the projection position point is on the target path segment and the projection position point is close to the starting path point of the target path segment along the path direction relative to the target position point, the projection position point Determined as the third position point.
The method according to claim 12, wherein the determining the third position point according to the projected position point comprises:

If the projected position point is on the target path segment and the target position point is close to the starting path point of the target path segment along the path direction relative to the projected position point, the target position point Determined as the third position point.
The method according to claim 12, wherein the determining the third position point according to the projected position point comprises:

If the projected position point is not on the target path segment, determine the first distance between the start path point of the target path segment and the return point and the distance between the target position point and the return point the second distance;

A third position point is determined according to the first distance and the second distance, wherein the third position point is the starting path point of the target path segment and the distance between the target position point and the return point that is greater than the distance between the target position point and the return point. Small location point.
A control device for an unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, characterized in that the device includes: a memory and processor;

the memory for storing computer programs;

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

Determine the first position point and the second position point on the path of the unmanned control robot, wherein the first position point is when the unmanned control robot moves along the path, the energy consumption of the energy supply component is less than or equal to the remaining energy. A position point equal to a preset energy threshold, and the second position point is a position point where the material is consumed to the point where the remaining material is less than or equal to the preset material threshold when the unmanned robot moves along the path;

Get the return point of the unmanned robot;

determining a third position point on the route according to the first position point, the second position point and the return point;

When the unmanned control robot moves to the third position point along the path, the unmanned control robot is controlled to return from the third position point to the return point.
The device of claim 16, wherein the material comprises pesticides, feed, seeds, fertilizers or water.
17. The apparatus of claim 16, wherein the power supply component comprises a battery.
The device according to claim 16, wherein the return point comprises a position point when the unmanned control robot is turned on, a position point specified by a user of the unmanned control robot, or a position point where the unmanned control robot starts to move .
The device according to claim 16, wherein the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned robot returns from the third position point to the return point.
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

recording the third position point;

After the unmanned robot returns to the return point, the unmanned robot is controlled to return from the return point to the recorded third position point and continue to move along the path in response to the recovery movement instruction information .
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

Sending the position information of the third position point to the control terminal, so that the control terminal displays the third position point.
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

The position information of the first position point and the second position point is sent to the control terminal, so that the control terminal displays the first position point and the second position point.
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

The display device of the control terminal displays the path and the third position point.
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

The first position point and the second position point are displayed on the display device at the control end.
The apparatus according to claim 16, wherein, when the processor executes the computer program, the following steps are implemented:

A target position point is determined from the first position point and the second position point, wherein the path includes a start path point and an end path point of the path, and the target position point is the first position point and the second position point A position point close to the starting path point along the path direction, the path direction is the direction extending along the path from the starting path point of the path to the ending path point of the path;

The third position point is determined according to the target position point and the return point.
The apparatus according to claim 26, wherein when the processor executes the computer program, the following steps are implemented:

determining a target path segment where the target location point is located from the plurality of path segments;

Determine the projected position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located;

The third position point is determined according to the projected position point.
The apparatus according to claim 27, wherein, when the processor executes the computer program, the following steps are implemented:

If the projection position point is on the target path segment and the projection position point is close to the starting path point of the target path segment along the path direction relative to the target position point, the projection position point Determined as the third position point.
The apparatus according to claim 27, wherein, when the processor executes the computer program, the following steps are implemented:

If the projected position point is on the target path segment and the target position point is close to the starting path point of the target path segment along the path direction relative to the projected position point, the target position point Determined as the third position point.
The apparatus according to claim 27, wherein, when the processor executes the computer program, the following steps are implemented:

If the projected position point is not on the target path segment, determine the first distance between the start path point of the target path segment and the return point and the distance between the target position point and the return point the second distance;

A third position point is determined according to the first distance and the second distance, wherein the third position point is the starting path point of the target path segment and the distance between the target position point and the return point that is greater than the distance between the target position point and the return point. Small location point.
An unmanned control robot, the unmanned control robot includes energy supply components for providing energy supply for the unmanned control robot and a spray device for containing and spraying materials, characterized in that the unmanned control robot also includes such as The control device for an unmanned robot according to any one of claims 16-23 and 26-30.
A control terminal for an unmanned control robot, the unmanned control robot includes an energy supply component that provides energy supply for the unmanned control robot and a spray device for containing and spraying materials, characterized in that the control terminal includes such as The control device for an unmanned robot according to any one of claims 16-21 and 24-30.
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 implements the process according to any one of claims 1-15 The control method of unmanned control robot.