WO2022095030A1 - 固体物料的播撒控制方法和装置、播撒机、可移动平台 - Google Patents
固体物料的播撒控制方法和装置、播撒机、可移动平台 Download PDFInfo
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- WO2022095030A1 WO2022095030A1 PCT/CN2020/127524 CN2020127524W WO2022095030A1 WO 2022095030 A1 WO2022095030 A1 WO 2022095030A1 CN 2020127524 W CN2020127524 W CN 2020127524W WO 2022095030 A1 WO2022095030 A1 WO 2022095030A1
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- Prior art keywords
- solid material
- discharge port
- control
- opening
- control model
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- 239000011343 solid material Substances 0.000 title claims abstract description 186
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000009331 sowing Methods 0.000 title claims abstract description 35
- 230000008569 process Effects 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims description 66
- 230000007480 spreading Effects 0.000 claims description 42
- 238000003892 spreading Methods 0.000 claims description 42
- 238000005303 weighing Methods 0.000 claims description 20
- 238000003860 storage Methods 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 238000009987 spinning Methods 0.000 claims description 5
- 238000003672 processing method Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 9
- 239000003337 fertilizer Substances 0.000 description 6
- 239000007787 solid Substances 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000000704 physical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 240000007594 Oryza sativa Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- XSQUKJJJFZCRTK-UHFFFAOYSA-N Urea Chemical compound NC(N)=O XSQUKJJJFZCRTK-UHFFFAOYSA-N 0.000 description 2
- 239000004202 carbamide Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 235000011293 Brassica napus Nutrition 0.000 description 1
- 240000002791 Brassica napus Species 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 235000013877 carbamide Nutrition 0.000 description 1
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- 238000013178 mathematical model Methods 0.000 description 1
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
Definitions
- the present disclosure relates to the technical field of agricultural unmanned aerial vehicles, and in particular, to a method and device for controlling the spreading of solid materials, a spreading machine, and a movable platform.
- the solid materials are often loaded on a movable platform, and the movable platform scatters the solid materials during traveling.
- the traditional method generally uses a solid flowmeter to measure the flow rate of the solid material based on the reflection frequency and amplitude of the material, and then control the opening of the material outlet based on the calculated flow rate and the required target flow rate, so as to realize the control of the material. Perform flow control.
- the reflection frequency and amplitude of the material will be affected, resulting in inaccurate measurement values of the solid flowmeter, resulting in low accuracy of flow control.
- the present disclosure provides a method and device for controlling the spreading of solid materials, a spreading machine, and a movable platform, which can improve the accuracy of flow control.
- an embodiment of the present disclosure provides a method for controlling the spreading of solid materials, which is used to control the spreading flow rate of the first solid material carried by the movable platform during the driving process.
- the method includes: obtaining a pre-established The control model of the first solid material, the control model is used to represent the corresponding relationship between the flow rate of the first solid material and the opening of the discharge port; when sowing the first solid material, according to the control model The discharge port is adjusted to the target opening to control the target flow rate for sowing the first solid material.
- an embodiment of the present disclosure provides a device for controlling the spreading of solid materials, which is used to control the spreading flow of the first solid material carried by the movable platform when the movable platform is traveling.
- the device includes a processor and a memory,
- the memory is used for storing instructions, and the processor invokes the instructions stored in the memory to perform the following operations: acquiring a pre-established control model of the first solid material, and the control model is used to characterize the first solid material The corresponding relationship between the flow rate and the opening of the discharge port; when sowing the first solid material, the discharge port is adjusted to the target opening according to the control model to control the target of the first solid material. flow.
- an embodiment of the present disclosure provides a spreader, which is installed on a movable platform and used to spread the loaded first solid material during the traveling of the movable platform; the spreader includes: a mechanical a valve, arranged at the discharge port of the material box for loading the first solid material, for controlling the opening of the discharge port; and a sowing control unit for obtaining a pre-established control model of the first solid material,
- the control model is used to represent the corresponding relationship between the flow rate of the first solid material and the opening of the discharge port.
- an embodiment of the present disclosure provides a movable platform, and the movable platform includes: the solid material spreading control device according to any embodiment of the present disclosure, or the spreader according to any embodiment of the present disclosure .
- an embodiment of the present disclosure provides a solid material spreading control system, which is used to control the spreading flow rate of the first solid material carried by the movable platform during the driving process, the system comprising: any one of the present disclosure The spreader according to the embodiment; and a user terminal, configured to obtain a control instruction input by a user, wherein the control instruction carries the identification information of the control model, and send the control instruction to the spreader.
- an embodiment of the present disclosure provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to execute the video processing method described in any of the embodiments of the present disclosure.
- a pre-established control model is used to characterize the corresponding relationship between the flow rate of the first solid material and the opening of the discharge port, and then the flow control of the first solid material is performed based on the control model, so that there is no need for a movable platform
- the flow control is carried out based on the flow rate of the solid material measured in real time, which reduces the influence of the travel of the movable platform on the flow measurement results and improves the accuracy of the flow control.
- FIG. 1A and FIG. 1B are schematic diagrams of application scenarios of embodiments of the present disclosure, respectively.
- FIG. 2 is a flowchart of a method for controlling the spreading of solid materials according to an embodiment of the present disclosure.
- FIG. 3 is a schematic diagram of determining a control model according to an embodiment of the present disclosure.
- FIG. 4 is a schematic diagram of a model selection interface according to an embodiment of the present disclosure.
- FIG. 5 is a schematic diagram of a model update process according to an embodiment of the present disclosure.
- FIG. 6 is a schematic diagram of a sowing control device for solid materials according to an embodiment of the present disclosure.
- FIG. 7 is a schematic diagram of a spreader according to an embodiment of the present disclosure.
- FIG. 8 is a schematic diagram of a movable platform according to an embodiment of the present disclosure.
- FIG. 9 is an interactive schematic diagram of each part in the solid material spreading control system according to the embodiment of the present disclosure.
- first, second, third, etc. may be used in this disclosure to describe various pieces of information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other.
- first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information, without departing from the scope of the present disclosure.
- word "if” as used herein can be interpreted as "at the time of” or "when” or "in response to determining.”
- FIG. 1A and FIG. 1B are schematic diagrams of application scenarios of the embodiments of the present disclosure, respectively.
- the fertilizer can be loaded by the agricultural drone, and the agricultural drone flies over the farmland area where the fertilizer needs to be spread according to a certain path, and spreads the fertilizer into the farmland during the flight.
- FIG. 1A the fertilizer can be loaded by the agricultural drone, and the agricultural drone flies over the farmland area where the fertilizer needs to be spread according to a certain path, and spreads the fertilizer into the farmland during the flight.
- the seeds can be loaded by the seeder, and the seeder can travel in the farmland area to be sown, and sow the seeds into the farmland during the traveling process.
- sowing solid materials such as seeds and fertilizers
- the flow rate is controlled by controlling the opening of the discharge port.
- the opening of the discharge port is increased, otherwise, the opening of the discharge port is decreased.
- the flow rate is very different. Therefore, it is difficult to use a set of general solutions to accurately To achieve accurate flow detection of solid materials.
- the traditional method generally uses a solid flowmeter, which roughly estimates the current flow rate of the solid material based on the reflection frequency and amplitude of the material, and then controls the opening of the material outlet based on the calculated current flow rate and the required target flow rate. Realize the flow control of the material.
- the reflection frequency and amplitude of the material will be affected, resulting in inaccurate measurement values of the solid flowmeter, resulting in low accuracy of flow control.
- an embodiment of the present disclosure provides a method for controlling the spreading of solid materials, which is used to control the spreading flow of the first solid material carried by the movable platform during the driving process.
- the method can include:
- sowing the first solid material adjust the discharge port to a target opening according to the control model, so as to control the target flow rate for sowing the first solid material.
- control unit may be a built-in control unit on the movable platform, or an additional control unit.
- the first solid material in the embodiment of the present disclosure may be a granular, flake, block or other shaped solid material, and the first solid material is loaded on a movable platform, for example, a in the material box.
- the material box can be detachably loaded on a movable platform for material replacement.
- the material box includes a material outlet for spreading the first solid material.
- the material box can be installed on the head of the movable platform, so as to adjust the direction and position of the discharge port according to actual needs, so as to effectively realize the spreading of solid materials.
- the number of material boxes on the movable platform can be one or more. In the case of multiple material boxes, the discharge port of each material box can be controlled independently, and the control of each discharge port does not affect each other.
- a control model of a specified type of first solid material may be acquired, and the specified type may include wheat seeds, rapeseeds, rice, urea, compound fertilizers, and the like. Since the shape, size, density and other object characteristics of different types of solid materials may vary greatly, or because different types of solid materials have different requirements for sowing density, a control model can be established for each first solid material in advance.
- the established control model can be stored in the storage unit.
- the storage unit may be a storage unit on a movable platform, or may be a storage unit on a control terminal (for example, a remote control, a mobile phone, etc.) matched with the movable platform.
- control unit may communicate with the control terminal through a communication interface, so as to receive the control model of the first solid material of the specified type sent by the user through the control terminal.
- control unit may acquire the control instruction input by the user through the interaction unit, the control instruction carries the identification information of the specified type or the identification information of the control model, and is based on the identification carried in the control instruction The information calls the corresponding control model from the storage unit on the removable platform.
- the control model may include a functional expression for characterizing the corresponding relationship between the flow rate of the specified type of first solid material and the opening of the discharge port.
- the required target flow rate may be obtained first, and then the target opening corresponding to the target flow may be queried according to the control model, and then the discharge port may be adjusted to the target opening to realize flow control.
- the discharge port can include a valve, and the opening degree of the discharge port can be adjusted by adjusting the opening amount of the valve.
- the target flow rate may be determined based on the moving speed of the movable platform. For example, when the movable platform moves faster, a larger target flow rate is used, otherwise, a smaller target flow rate is used.
- the target flow rate may also be determined based on other factors, including but not limited to at least one of the type of the first solid material, the type of the crop, the maturity of the crop, and the like.
- a pre-established control model is used to characterize the corresponding relationship between the flow rate of the first solid material and the opening of the discharge port, and then the flow control of the first solid material is performed based on the control model, so that there is no need for a movable platform
- the flow control is carried out based on the flow rate of the solid material measured in real time, which reduces the influence of the travel of the movable platform on the flow measurement results and improves the accuracy of the flow control.
- control model may be established based on the following manner: obtaining the weight of the second solid material flowing through the discharge port under a plurality of second opening degrees, and according to the plurality of second opening degrees and the corresponding first
- the control model is established by the weight of the second solid material flowing through the discharge port at two openings.
- the second solid material and the first solid material may be of the same type, or of different types but with similar physical properties. For example, the size, shape and density of the first solid material and the second solid material are relatively close.
- the weight of the second solid material flowing through the outlet can be weighed by arranging a weighing unit at the outlet, and the weighing unit can determine the flow through the The weight of the second solid material at the outlet.
- the weight of the material box at time t1 is m1
- the weight of the material box at time t2 is m2
- the weight of the second solid material flowing through the discharge port during the time period from t1 to t2 is m1-m2.
- a weighing unit can also be arranged below the discharge port to directly weigh the second solid material flowing out from the discharge port.
- the first variation relationship of the second opening degree with time in the first time period can be obtained, and the weight of the second solid material flowing through the discharge port in the first time period can be obtained.
- the second variation relationship of , the control model is established based on the first variation relationship and the second variation relationship. It is assumed that the second opening degrees in the first time period are O 1 , O 2 , ..., On in sequence, and the weight of the second solid material in the first time period is assumed to be m 1 , m 2 , ..., m n in sequence , then the first change relationship can be obtained according to O 1 , O 2 , ..., On, and the second change relationship can be obtained according to m 1 , m 2 , ... , m n , and then a control model is established.
- control model is a discrete model.
- the first time period can be divided into a plurality of sub-time periods, and the second opening degree is kept unchanged in each sub-time period.
- the size of the outlet valve can be changed automatically by software or manually, such as setting the valve opening to 20%, 40%, 60%, 80%, and 100% of the maximum opening respectively.
- Under each valve opening open for a period of time, such as 30s.
- the weight of the second solid material flowing through the discharge port under each valve opening is obtained, and the flow rate under the valve opening is obtained by dividing it with the time.
- control model is a continuous model.
- the second opening degree changes continuously with time in the first time period, and it can be determined that the second solid materials flowing through the discharge port at multiple time points in the first time period
- the second variation relationship is determined based on the weight of the second solid material flowing through the outlet at the plurality of time points.
- the valve opening size can be controlled to be adjusted from the first opening (eg, 0%) to the second opening (eg, 100%).
- the relationship between the valve opening size and time is shown in 301 .
- the weight change curve of the second solid material is measured by the load cell, as shown in 302 , and the change curve of the weight change rate (ie, flow rate) with time is calculated, as shown in 303 .
- the relationship between the valve opening size and the flow rate is calculated, as shown in 304 .
- control model can be performed before each time the first solid material is spread, or it can be performed once and used when the first material is spread multiple times.
- Control models corresponding to multiple types of solid materials can be established according to the above methods, and different models can be called in different situations.
- the physical properties of the material will change with the change of the external environment, which will lead to changes in the flow rate, which in turn affects the accuracy of the original model.
- the original control model can be optimized, updated and improved through real-time measurement and feedback, combined with related algorithms such as machine learning and pattern recognition, so as to improve the control accuracy.
- the update process is similar to the process of establishing a control model, and the weighing unit can be controlled to weigh the first solid materials flowing through the discharge port under a plurality of first openings.
- the control model is updated with the weight of the first solid material flowing through the discharge port at an opening.
- the updating may include adding a new control model, revising model parameters of the control model, and/or deleting the original control model.
- the currently established control models such as the urea model and the rice model shown in the figure
- the existing models can be updated based on the instructions input by the user on the control terminal (for example, adding a new model).
- the weight change can be measured under a certain valve opening during the user's use, so as to calculate the flow rate under the specific valve opening, and update this data to the old one. in the control model.
- the remaining amount of the first solid material may also be detected, and when the remaining amount is detected to be less than a preset value, the movable platform is controlled to fly to a designated location. In this way, the material can be replenished and replaced in time when the first solid material is about to be used up.
- a damping rod may be provided at the discharge port, and the damping rod is mechanically connected to a motor, and the motor is used to drive the damping rod to rotate with a certain power.
- the rotational speed of the damping rod varies with the weight of the solid material in the material box. When there are more solid materials in the material box, the resistance of the damping rod to rotate is larger, so the rotation is slower; otherwise, the damping rod rotates faster. Therefore, by detecting the rotational speed of the damping rod, the remaining amount of material can be determined.
- the designated location may be a preset material replacement location.
- the material replacement location may be determined based on the travel path of the movable platform, or may be determined jointly based on the travel path of the movable platform and the location of the user.
- the designated location can also be a return point, and when the material sowing is completed, the movable platform can be controlled to return home.
- the detection of the remaining amount of materials can also be achieved in other ways.
- a distance sensor may be provided in the material tank, by detecting the distance from the first solid material, and determining the remaining amount based on the distance. For example, if the material box is upside down on the movable platform, and the material is spread under the movable platform with the opening facing down, a distance sensor can be arranged on the top of the material box. Since the material in the material box will continue to drop during the material spreading process, the distance detected by the distance sensor will continue to increase. In the case that the distance detected by the distance sensor is greater than the preset distance threshold, it may be determined that the remaining amount is smaller than the preset value.
- an image sensor may also be provided in the material box, an image in the material box is collected by the image sensor, and the remaining amount is determined based on the acquired image.
- the remaining amount of materials may also be detected in other ways, which will not be exhaustive in this disclosure.
- the discharge port is further provided with a spinning disc unit for spreading the first solid material flowing through the discharge port to different directions.
- the spinner unit can rotate at a certain speed under the drive of the motor. When the material is spread, the material flowing out from the discharge port falls on the spinner unit, and is spread in different directions through the rotation of the spinner unit. In this way, the material can be spread more evenly.
- Embodiments of the present disclosure further provide a device for controlling the spreading of solid materials, which is used to control the spreading flow of the first solid material carried by the movable platform during the traveling process.
- the device includes a processor and a memory, and the memory For storing instructions, the processor invokes the instructions stored in the memory to perform the following operations:
- control model is used to characterize the correspondence between the flow rate of the first solid material and the opening of the discharge port
- the outlet is adjusted to a target opening according to the control model, so as to control the target flow rate of the first solid material.
- the processor is further configured to: acquire the weight of the second solid material flowing through the discharge port under a plurality of second opening degrees, and according to the plurality of second opening degrees and the corresponding second opening degrees The control model is established based on the weight of the second solid material flowing through the outlet at a given temperature.
- the processor is configured to: obtain a first variation relationship of the second opening degree with time in a first time period; a second variation relationship of the weight of the second solid material with time; the control model is established based on the first variation relationship and the second variation relationship.
- the first time period includes a plurality of sub-time periods, and the second opening degree remains unchanged in each sub-time period; the processor is configured to: The ratio of the weight of the second solid material at the discharge port to the sub-period; the second variation relationship of the corresponding period is determined based on the ratio of each sub-period respectively.
- the second opening degree changes continuously with time in the first time period; the processor is configured to: determine all the flow through the outlet at multiple time points in the first time period. the weight of the second solid material; and the second variation relationship is determined based on the weight of the second solid material flowing through the discharge port at the plurality of time points.
- the discharge port is provided with a weighing unit for weighing the second solid materials flowing through the discharge port under a plurality of second opening degrees.
- the processor is further configured to: control the weighing unit to weigh the first solid materials flowing through the outlet at a plurality of first opening degrees, according to the plurality of first opening degrees
- the control model is updated according to the weight of the first solid material flowing through the discharge port corresponding to the first opening.
- the processor is further configured to: acquire a moving speed of the movable platform; and determine a target flow corresponding to the moving speed.
- the processor is further configured to: detect the remaining amount of the first solid material; when it is detected that the remaining amount is less than a preset value, control the movable platform to fly to Designated place.
- the processor is configured to: receive a control instruction input by a user through an interaction unit, where the control instruction carries identification information of the control model; and acquire the control model based on the identification information.
- the discharge port is provided with a spinner unit for spreading the first solid material flowing through the discharge port to different directions.
- the discharge port is provided with a valve, and the opening of the discharge port is controlled based on the opening amount of the valve.
- FIG. 6 shows a schematic diagram of the hardware structure of a more specific video processing apparatus provided by an embodiment of this specification.
- the apparatus may include: a processor 601 , a memory 602 , an input/output interface 603 , a communication interface 604 and a bus 605 .
- the processor 601 , the memory 602 , the input/output interface 603 and the communication interface 604 realize the communication connection among each other within the device through the bus 605 .
- the clock synchronization apparatus is used to execute the above method applied to the first subsystem
- the processor 601 is a first processor
- the communication interface 604 is a first communication interface.
- the processor 601 is a second processor
- the communication interface 604 is a second communication interface.
- the processor 601 can be implemented by a general-purpose CPU (Central Processing Unit, central processing unit), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. program to implement the technical solutions provided by the embodiments of this specification.
- a general-purpose CPU Central Processing Unit, central processing unit
- a microprocessor central processing unit
- an application specific integrated circuit Application Specific Integrated Circuit, ASIC
- ASIC Application Specific Integrated Circuit
- the memory 602 can be implemented in the form of a ROM (Read Only Memory, read-only memory), a RAM (Random Access Memory, random access memory), a static storage device, a dynamic storage device, and the like.
- the memory 602 may store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, relevant program codes are stored in the memory 602 and invoked by the processor 601 for execution.
- the input/output interface 603 is used to connect the input/output module to realize information input and output.
- the input/output/module can be configured in the device as a component (not shown in the figure), or can be externally connected to the device to provide corresponding functions.
- the input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc.
- the output device may include a display, a speaker, a vibrator, an indicator light, and the like.
- the communication interface 604 is used to connect a communication module (not shown in the figure), so as to realize the communication interaction between the device and other devices.
- the communication module may implement communication through wired means (eg, USB, network cable, etc.), or may implement communication through wireless means (eg, mobile network, WIFI, Bluetooth, etc.).
- Bus 605 includes a path to transfer information between the various components of the device (eg, processor 601, memory 602, input/output interface 603, and communication interface 604).
- the above-mentioned device only shows the processor 601, the memory 602, the input/output interface 603, the communication interface 604 and the bus 605, in the specific implementation process, the device may also include necessary components for normal operation. other components.
- the above-mentioned device may only include components necessary to implement the solutions of the embodiments of the present specification, rather than all the components shown in the figures.
- an embodiment of the present disclosure further provides a spreader 700, which is installed on a movable platform and used to spread the loaded first solid material during the traveling of the movable platform; the spreading The machine includes: a mechanical valve 701, which is set at the discharge port 702 of the material box 708 for loading the first solid material, for controlling the opening of the discharge port; and the sowing control unit 703, for obtaining pre-established
- the control model of the first solid material the control model is used to represent the corresponding relationship between the flow rate of the first solid material and the opening of the discharge port 702, when the first solid material is spread, according to the control model
- the opening amount of the mechanical valve 701 is controlled to adjust the discharge port 702 to the target opening degree, so as to control the target flow rate for sowing the first solid material.
- the spreader further includes a first motor 704 for controlling the opening amount of the mechanical valve.
- the spreader further includes a spinner unit 705 for spreading the first solid material flowing through the outlet to different directions.
- the spreader further includes a second motor 706 for controlling the rotational speed of the spinner unit.
- the spreader further includes a material detection unit 707 for detecting the remaining amount of the first solid material, wherein the movable platform flies when the remaining amount is less than a preset value to the designated location.
- the material detection unit 707 includes a damping rod 7071 disposed at the discharge port; and a third motor 7072 for driving the damping rod 7071 to rotate under a preset power, wherein the The remaining amount is determined based on the rotational speed of the damping rod at the preset power.
- the material detection unit 707 includes a distance sensor provided in the material box for detecting the distance from the first solid material, and determining the remaining amount based on the distance; or A visual sensor arranged in the material box is used to acquire an image in the material box, and determine the remaining amount based on the acquired image.
- the spreader further includes a weighing unit disposed at the discharge port for weighing the second solid materials flowing through the discharge port under a plurality of second opening degrees, so as to The sowing control unit is made to establish the control model according to the plurality of second opening degrees and the weight of the second solid material flowing through the discharge port under the corresponding second opening degrees.
- the control unit 703 may be an integrated chip, and the weighing unit may be a sensor integrated in the control unit 703 .
- the spreader may also include an interactive component, a communication unit, and/or a storage unit.
- the interaction component may be a button, a touch screen, etc., and is used for human-computer interaction to receive a control instruction input by a user, for example, a model update instruction and the like.
- the communication unit may receive control instructions sent by other devices, for example, the update instructions and/or control models may be sent by other devices.
- the storage unit may store the control model.
- sowing control unit 703 For details of the method executed by the above-mentioned sowing control unit 703, refer to the foregoing embodiments of the sowing control method for solid materials, which will not be repeated here.
- an embodiment of the present disclosure further provides a movable platform, including the solid material spreading control device described in any embodiment of the present disclosure, or the spreading machine described in any embodiment of the present disclosure.
- the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, a movable robot, etc., which is not limited in the present disclosure.
- FIG. 8 uses an unmanned aerial vehicle as an example to illustrate the solution of the embodiment of the present disclosure. Those skilled in the art can understand that in practical applications, the movable platform is not limited to unmanned aerial vehicles.
- the movable platform further includes a motion control unit for controlling the traveling state of the movable platform (eg, traveling speed, traveling direction, traveling attitude, etc.) when the first solid material is spread. ).
- a motion control unit for controlling the traveling state of the movable platform (eg, traveling speed, traveling direction, traveling attitude, etc.) when the first solid material is spread. ).
- the drone 800 may include a material box 801 for storing solid materials, the material box is mechanically connected with the spreader 802 , and the outlet of the material box is connected to the inlet of the spreader.
- the spreader can be installed at the bottom of the drone 800 to spread the material 803 downward during the flight of the drone 800 .
- the drone may also include a plurality of blades for driving the drone to fly.
- the UAV 800 may further include a power system for powering the UAV.
- the flight control system on the UAV 800 can control the UAV to operate on a designated path (eg, sowing, fertilizing) based on the pre-stored waypoint information, and control the UAV 800 when the operation is completed or the material needs to be replaced Fly to the designated location.
- the flight control system may also receive an instruction sent by a user terminal (eg, a mobile phone, a remote controller, etc.) to control the state of the UAV 800 based on the instruction.
- the embodiment of the present disclosure further provides a solid material spreading control system, which is used to control the spreading flow rate of the first solid material carried by the movable platform during the driving process.
- the system includes: any one of the embodiments of the present disclosure.
- the spreader ; and a user terminal, configured to obtain a control instruction input by the user, the control instruction carries the identification information of the control model, and send the control instruction to the spreader.
- the user terminal 901 is used for controlling the driving state of the movable platform; and/or updating the control model.
- the user terminal 901 can send control instructions to the scheduling control system of the movable platform for planning the operation tasks of the movable platform (for example, sowing, fertilizing), and the control instructions can carry the location information of the operation area, operation duration, operation Path information, etc.
- the motion control system on the movable platform 902 (for example, the flight control system of the drone) can control the state of the movable platform based on the control instructions sent by the user terminal 901, and can also send information to the control unit in the spreader 903.
- the control unit in the spreader 903 can control the spinner motor, material detection unit, valve motor, etc. in the spreader body to work, so as to realize material spreading according to the set target flow rate.
- the control unit in the spreader 903 can also integrate load cells for weighing the material.
- Embodiments of the present disclosure also provide a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to perform the method described in any of the foregoing embodiments.
- Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
- Information may be computer readable instructions, data structures, modules of programs, or other data.
- Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
- computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.
- a typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation device, e-mail device, game control desktop, tablet, wearable device, or a combination of any of these devices.
Abstract
一种固体物料的播撒控制方法和装置、播撒机、可移动平台，通过预先建立的控制模型来表征第一固体物料的流量与出料口的开度的对应关系，再基于控制模型对第一固体物料进行流量控制，从而无需在可移动平台行驶过程中基于实时测得的固体物料的流量来进行流量控制，减少了可移动平台的行驶对流量测量结果的影响，提高了流量控制的准确性。
Description
本公开涉及农业无人飞行器技术领域，尤其涉及固体物料的播撒控制方法和装置、播撒机、可移动平台。
目前，为了提高固体物料(例如，种子)的播撒效率，常常会将固体物料装载在可移动平台上，并由可移动平台在行驶过程中对固体物料进行播撒。在播撒固体物料的过程中，需要控制固体物料的播撒流量。传统方式一般采用固体流量计，通过基于物料的反射频率和幅度来测量固体物料的流量，再基于计算出来的流量与所需的目标流量来控制物料的出料口的开度，从而实现对物料进行流量控制。然而，可移动平台在行驶过程中，由于颠簸或者姿态改变等原因，会对物料的反射频率和幅度产生影响，导致固体流量计的测量值不准确，从而导致流量控制的准确性较低。
发明内容
本公开提供了一种固体物料的播撒控制方法和装置、播撒机、可移动平台，可以提高流量控制的准确性。
第一方面，本公开实施例提供一种固体物料的播撒控制方法，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述方法包括：获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制对所述第一固体物料进行播撒的目标流量。
第二方面，本公开实施例提供一种固体物料的播撒控制装置，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述装置包括处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的指令用于执行以下操作：获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制所述第一固体物料的目标流量。
第三方面，本公开实施例提供一种播撒机，安装在可移动平台上，用于在所述可移动平台在行驶过程中对装载的第一固体物料进行播撒；所述播撒机包括：机械阀门，设于用于装载第一固体物料的物料箱的出料口，用于控制所述出料口的开度；以及播撒控制单元，用于获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系，在播撒所述第一固体物料时，根据所述控制模型控制所述机械阀门的开启量，以将所述出料口调节至目标开度，从而控制对所述第一固体物料进行播撒的目标流量。
第四方面，本公开实施例提供一种可移动平台，所述可移动平台包括：本公开任一实施例所述的固体物料的播撒控制装置，或者本公开任一实施例所述的播撒机。
第五方面，本公开实施例提供一种固体物料的播撒控制系统，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述系统包括：本公开任一实施例所述的播撒机；以及用户终端，用于获取用户输入的控制指令，所述控制指令中携带所述控制模型的标识信息，并将所述控制指令发送至所述播撒机。
第六方面，本公开实施例提供一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得所述计算机执行本公开任一实施例所述的视频处理方法。
本公开的实施例提供的技术方案可以包括以下有益效果：
本公开实施例中，通过预先建立的控制模型来表征第一固体物料的流量与出料口的开度的对应关系，再基于控制模型对第一固体物料进行流量控制，从而无需在可移动平台行驶过程中基于实时测得的固体物料的流量来进行流量控制，减少了可移动平台的行驶对流量测量结果的影响，提高了流量控制的准确性。
图1A和图1B分别是本公开实施例的应用场景的示意图。
图2是本公开实施例的固体物料的播撒控制方法的流程图。
图3是本公开实施例的确定控制模型的示意图。
图4是本公开实施例的模型选择界面的示意图。
图5是本公开实施例的模型更新过程的示意图。
图6是本公开实施例的固体物料的播撒控制装置的示意图。
图7是本公开实施例的播撒机的示意图。
图8是本公开实施例的可移动平台的示意图。
图9是本公开实施例的固体物料的播撒控制系统中各部分的交互示意图。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
目前，为了提高固体物料(例如，种子、化肥、饲料等)的播撒效率，常常会将固体物料装载在可移动平台上，并由可移动平台在行驶过程中对固体物料进行播撒。如图1A和图1B所示，分别是本公开实施例的应用场景的示意图。在图1A中，可以通过农业无人机装载化肥，由农业无人机在需要播撒化肥的农田区域上方按照一定路径飞行，并在飞行过程中将化肥播撒到农田中。如图1B所示，可以通过播种机装载种子，由播种机在需要播种的农田区域行驶，并在行驶过程中将种子播撒到农田中。本领域技术人员可以理解，上述实施例只是用于对本公开的技术方案可能的应用场景进行举例说明，并非用于限制本公开。
在播撒种子、化肥等播撒固体物料的过程中，需要控制固体物料的播撒流量。一般来说，是通过控制出料口的开度来控制流量，在当前流量小于所需的目标流量时， 增大出料口的开度，反之则减小出料口的开度。然而，由于不同的固体物料的物理特性以及播撒要求千差万别，即便是在同一个设备中，相同的出料口开度下，其流量差异也非常大，因此，难以通过一套通用的方案来精确地对固体物料实现精确的流量检测。传统方式一般采用固体流量计，通过基于物料的反射频率和幅度来大致估计固体物料的当前流量，再基于计算出来的当前流量与所需的目标流量来控制物料的出料口的开度，从而实现对物料进行流量控制。然而，可移动平台在行驶过程中，由于颠簸或者姿态改变等原因，会对物料的反射频率和幅度产生影响，导致固体流量计的测量值不准确，从而导致流量控制的准确性较低。
基于此，本公开实施例提供一种固体物料的播撒控制方法，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，如图2所示，所述方法可包括：
201，获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；
202，在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制对所述第一固体物料进行播撒的目标流量。
本公开实施例的方法可以由控制单元实现，所述控制单元可以是可移动平台上自带的控制单元，也可以是额外增加的控制单元。
本公开实施例中的第一固体物料可以是颗粒状、片状、块状或者其他形状的固体物料，所述第一固体物料被装载在可移动平台上，例如，装载在可移动平台上的物料箱中。所述物料箱可以可拆卸地装载在可移动平台上，以便更换物料。所述物料箱包括一出料口，用于播撒所述第一固体物料。所述物料箱可以安装在可移动平台的云台上，以便根据实际需要调整出料口的方向和位置，从而有效地实现固体物料的播撒。可移动平台上的物料箱的数量可以是1个或多个，在数量为多个的情况下，每个物料箱的出料口可以独立地进行控制，各个出料口的控制互不影响。
在101中，可以获取指定种类的第一固体物料的控制模型，所述指定种类可以包括小麦种子、油菜籽、水稻、尿素、复合肥料等。由于不同种类的固体物料的形状、大小、密度等物体特性差异可能较大，或者由于不同种类的固体物料的播撒密度要求不同，因此，可以分别为每种第一固体物料预先建立控制模型。建立好的控制模型可以存储在存储单元中。所述存储单元可以是可移动平台上的存储单元，也可以是与可 移动平台配套的控制终端(例如，遥控器、手机等)上的存储单元。作为一种实现方式，控制单元可以通过通信接口与控制终端通信，以接收用户通过控制终端发送的所述指定种类的第一固体物料的控制模型。作为另一种实现方式，控制单元可以获取用户通过交互单元输入的控制指令，所述控制指令中携带所述指定种类的标识信息或者所述控制模型的标识信息，并基于控制指令中携带的标识信息从可移动平台上的存储单元中调用对应的控制模型。所述控制模型可以包括用于表征所述指定种类的第一固体物料的流量与出料口的开度的对应关系的函数表达式。
在202中，可以先获取所需的目标流量，再根据控制模型查询到目标流量对应的目标开度，然后将出料口调节至目标开度，以实现流量控制。其中，出料口可包括一阀门，通过调节阀门的开启量来调节出料口的开度。在一些实施例中，目标流量可基于可移动平台的移动速度来确定，例如，在可移动平台移动速度较快时，采用较大的目标流量，反之，则采用较小的目标流量。除此之外，还可以基于其他因素来确定目标流量，所述其他因素包括但不限于第一固体物料的种类、农作物的种类、农作物的成熟度等中的至少一者。
本公开实施例中，通过预先建立的控制模型来表征第一固体物料的流量与出料口的开度的对应关系，再基于控制模型对第一固体物料进行流量控制，从而无需在可移动平台行驶过程中基于实时测得的固体物料的流量来进行流量控制，减少了可移动平台的行驶对流量测量结果的影响，提高了流量控制的准确性。
在一些实施例中，所述控制模型可以基于以下方式建立：获取多个第二开度下流经所述出料口的第二固体物料的重量，根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。
所述第二固体物料与所述第一固体物料可以是相同种类的物料，或者是不同种类但物理性质接近的物料。例如，所述第一固体物料与所述第二固体物料的大小、形状、密度等均比较接近。可以通过在出料口设置一称重单元来对流经所述出料口的第二固体物料的重量进行称重，所述称重单元可以基于物料流出前后物料箱的重量的变化来确定流经所述出料口的第二固体物料的重量。例如，在t1时刻物料箱的重量为m1，在t2时刻物料箱的重量为m2，则t1到t2时间段内流经所述出料口的第二固体物料的重量为m1-m2。或者，也可以在出料口下方设置一称重单元来对从出料口流出的第二固体物料直接进行称重。
可以获取所述第二开度在第一时间段内随时间变化的第一变化关系，获取所述第 一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系，基于所述第一变化关系和所述第二变化关系，建立所述控制模型。假设第一时间段内第二开度依次为O
1，O
2，……，O
n，并假设第一时间段内第二固体物料的重量依次为m
1，m
2，……，m
n，则可以根据O
1，O
2，……，O
n获取第一变化关系，并根据m
1，m
2，……，m
n获取第二变化关系，然后建立控制模型。
可选地，所述控制模型为离散模型。在这种情况下，可以将第一时间段划分为多个子时间段，在每个子时间段内保持第二开度不变。分别获取各个子时间段内，流经所述出料口的所述第二固体物料的重量与所述子时间段的比值，分别基于各个子时间段的所述比值，确定对应时间段的所述第二变化关系。
例如，可以采用软件自动或人工方式，改变出料口阀门的大小，如分别设置阀门开口为最大开口的20％、40％、60％、80％、100％。分别在各个阀门开口下，开启一段时间，如30s。通过称重的方法，得到各个阀门开口下流经出料口的第二固体物料的重量，与时间做除，得到此阀门开口下的流量。统计各个阀门开口下的流量，拟合为一条曲线，使用数学模型进行描述，得到控制模型，该控制模型可记为y＝f(x)，其中，y为流量，x为舱门开口，f为函数表达式。
可选地，所述控制模型为连续模型。在这种情况下，所述第二开度在第一时间段内随时间连续变化，可以确定所述第一时间段内多个时间点流经所述出料口的所述第二固体物料的重量，基于所述多个时间点流经所述出料口的所述第二固体物料的重量确定所述第二变化关系。
如图3所示，可以控制阀门开口大小从第一开口(例如0％)调节至第二开口(例如100％)，阀门开口大小随时间的变化关系如301所示。通过称重传感器测量此过程中，第二固体物料的重量变化曲线，如302所示，进而计算出重量变化率(即流量)随时间的变化曲线，如303所示。最终统计出阀门开口大小与流量的关系，如304所示。
上述控制模型的建立过程可以在每次播撒第一固体物料之前执行，也可以执行一次并供多次播撒第一物料时使用。可以根据上述方式建立多个种类的固体物料对应的控制模型，并在不同的情况下调用不同的模型。
在实际应用中，物料的物理性质会随着外界环境的变化而变化，从而导致流量的变化，继而影响原有模型的使用精度。在控制模型的使用过程中，可以通过实时的测 量、反馈，结合机器学习、模式识别等相关算法，对原有的控制模型进行优化、更新和改进，从而提升控制精度。更新过程类似于控制模型建立的过程，可以控制称重单元对多个第一开度下流经所述出料口的第一固体物料进行称重，根据所述多个第一开度与对应第一开度下流经所述出料口的第一固体物料的重量，对所述控制模型进行更新。
所述更新可以包括新增控制模型、修正控制模型的模型参数和/或删除原有的控制模型。如图4所示，可以在控制终端上显示当前已建立的控制模型，例如图中所示的尿素模型、水稻模型等，并基于用户在控制终端上输入的指令来实现对已有模型的更新(例如，新增模型)。如图5所示，当需要修正模型参数时，可针对于用户使用过程中，某一特定阀门开口下，测量重量的变化量，从而计算出特定阀门开口下的流量，将此数据更新至旧的控制模型中。
在一些实施例中，还可以对所述第一固体物料的剩余量进行检测，在检测到所述剩余量小于预设值的情况下，控制所述可移动平台飞行至指定地点。通过这种方式，能够在第一固体物料即将用尽时及时进行物料的补充和更换。可选地，可以在出料口设置一阻尼棒，阻尼棒与电机机械连接，所述电机用于以一定的功率驱动阻尼棒转动。阻尼棒的转速随着物料箱中的固体物料的重量而变化。当物料箱中的固体物料较多时，阻尼棒转动所受到的阻力较大，从而转动较慢；反之阻尼棒转动较快。因此，通过检测阻尼棒的转速，可以确定物料的剩余量。
所述指定地点可以是预设的物料更换地点。物料更换地点可以基于可移动平台的行驶路径确定，也可以基于可移动平台的行驶路径与用户所处的位置共同确定。所述指定地点也可以是返航点，在物料播撒完成时，可以控制可移动平台返航。
可选地，还可以通过其他方式实现物料剩余量的检测。例如，可以在物料箱内设置距离传感器，通过检测与所述第一固体物料的距离，并基于所述距离确定所述剩余量。例如，物料箱倒置在可移动平台上，开口朝下地向可移动平台下方播撒物料，可以在物料箱的顶部设置距离传感器。由于物料播撒过程中，物料箱中的物料将持续下降，从而距离传感器检测到的距离将持续增加。在距离传感器检测到的距离大于预设距离阈值的情况下，可以确定所述剩余量小于预设值。又例如，还可以在物料箱内设置图像传感器，通过图像传感器采集物料箱内的图像，并基于获取的图像确定所述剩余量。在实际应用中，还可以通过其他方式来检测物料的剩余量，本公开对此不做穷举。
在一些实施例中，出料口还设置有甩盘单元，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。所述甩盘单元可以在电机驱动下以一定转速旋转，在播撒物料时，从出料口流出的物料落在甩盘单元上，通过甩盘单元的旋转从而播撒到不同方向。通过这种方式，能够使物料播撒得更加均匀。
本公开实施例还提供一种固体物料的播撒控制装置，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述装置包括处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的指令用于执行以下操作：
获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；
在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制所述第一固体物料的目标流量。
在一些实施例中，所述处理器还用于：获取多个第二开度下流经所述出料口的第二固体物料的重量，根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。
在一些实施例中，所述处理器用于：获取所述第二开度在第一时间段内随时间变化的第一变化关系；获取所述第一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系；基于所述第一变化关系和所述第二变化关系，建立所述控制模型。
在一些实施例中，所述第一时间段包括多个子时间段，每个子时间段内所述第二开度均保持不变；所述处理器用于：分别获取各个子时间段内，流经所述出料口的所述第二固体物料的重量与所述子时间段的比值；分别基于各个子时间段的所述比值，确定对应时间段的所述第二变化关系。
在一些实施例中，所述第二开度在第一时间段内随时间连续变化；所述处理器用于：确定所述第一时间段内多个时间点流经所述出料口的所述第二固体物料的重量；基于所述多个时间点流经所述出料口的所述第二固体物料的重量确定所述第二变化关系。
在一些实施例中，所述出料口设有称重单元，用于对多个第二开度下流经所述出料口的第二固体物料进行称重。
在一些实施例中，所述处理器还用于：控制称重单元对多个第一开度下流经所述 出料口的第一固体物料进行称重，根据所述多个第一开度与对应第一开度下流经所述出料口的第一固体物料的重量，对所述控制模型进行更新。
在一些实施例中，所述处理器还用于：获取所述可移动平台的移动速度；确定与所述移动速度对应的目标流量。
在一些实施例中，所述处理器还用于：对所述第一固体物料的剩余量进行检测；在检测到所述剩余量小于预设值的情况下，控制所述可移动平台飞行至指定地点。
在一些实施例中，所述处理器用于：接收用户通过交互单元输入的控制指令，所述控制指令中携带所述控制模型的标识信息；基于所述标识信息获取所述控制模型。
在一些实施例中，所述出料口设有甩盘单元，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。
在一些实施例中，所述出料口设有阀门，所述出料口的开度基于所述阀门的开启量来控制。
本公开实施例中处理器所执行的方法详见前述方法的实施例，此处不再赘述。
图6示出了本说明书实施例所提供的一种更为具体的视频处理装置的硬件结构示意图，该设备可以包括：处理器601、存储器602、输入/输出接口603、通信接口604和总线605。其中处理器601、存储器602、输入/输出接口603和通信接口604通过总线605实现彼此之间在设备内部的通信连接。在所述时钟同步装置用于执行上述应用于第一子系统的方法时，所述处理器601为第一处理器，所述通信接口604为第一通信接口。在所述时钟同步装置用于执行上述应用于第二子系统的方法时，所述处理器601为第二处理器，所述通信接口604为第二通信接口。
处理器601可以采用通用的CPU(Central Processing Unit，中央处理器)、微处理器、应用专用集成电路(Application Specific Integrated Circuit，ASIC)、或者一个或多个集成电路等方式实现，用于执行相关程序，以实现本说明书实施例所提供的技术方案。
存储器602可以采用ROM(Read Only Memory，只读存储器)、RAM(Random Access Memory，随机存取存储器)、静态存储设备，动态存储设备等形式实现。存储器602可以存储操作系统和其他应用程序，在通过软件或者固件来实现本说明书实施例所提供的技术方案时，相关的程序代码保存在存储器602中，并由处理器601来调用执行。
输入/输出接口603用于连接输入/输出模块，以实现信息输入及输出。输入输出/模块可以作为组件配置在设备中(图中未示出)，也可以外接于设备以提供相应功能。其中输入设备可以包括键盘、鼠标、触摸屏、麦克风、各类传感器等，输出设备可以包括显示器、扬声器、振动器、指示灯等。
通信接口604用于连接通信模块(图中未示出)，以实现本设备与其他设备的通信交互。其中通信模块可以通过有线方式(例如USB、网线等)实现通信，也可以通过无线方式(例如移动网络、WIFI、蓝牙等)实现通信。
总线605包括一通路，在设备的各个组件(例如处理器601、存储器602、输入/输出接口603和通信接口604)之间传输信息。
需要说明的是，尽管上述设备仅示出了处理器601、存储器602、输入/输出接口603、通信接口604以及总线605，但是在具体实施过程中，该设备还可以包括实现正常运行所必需的其他组件。此外，本领域的技术人员可以理解的是，上述设备中也可以仅包含实现本说明书实施例方案所必需的组件，而不必包含图中所示的全部组件。
如图7所示，本公开实施例还提供一种播撒机700，安装在可移动平台上，用于在所述可移动平台在行驶过程中对装载的第一固体物料进行播撒；所述播撒机包括：机械阀门701，设于用于装载第一固体物料的物料箱708的出料口702，用于控制所述出料口的开度；以及播撒控制单元703，用于获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口702的开度的对应关系，在播撒所述第一固体物料时，根据所述控制模型控制所述机械阀门701的开启量，以将所述出料口702调节至目标开度，从而控制对所述第一固体物料进行播撒的目标流量。
在一些实施例中，所述播撒机还包括第一电机704，用于控制所述机械阀门的开启量。
在一些实施例中，所述播撒机还包括甩盘单元705，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。
在一些实施例中，所述播撒机还包括第二电机706，用于控制所述甩盘单元的转速。
在一些实施例中，所述播撒机还包括物料检测单元707，用于检测所述第一固体物料的剩余量，其中，所述可移动平台在所述剩余量小于预设值的情况下飞行至指定地点。
在一些实施例中，所述物料检测单元707包括设于所述出料口的阻尼棒7071；以 及第三电机7072，用于在预设功率下驱动所述阻尼棒7071转动，其中，所述剩余量基于所述预设功率下所述阻尼棒的转速确定。
在另一些实施例中，所述物料检测单元707包括设于所述物料箱内的距离传感器，用于检测与所述第一固体物料的距离，并基于所述距离确定所述剩余量；或者设于所述物料箱内的视觉传感器，用于获取所述物料箱内的图像，并基于获取的图像确定所述剩余量。
在一些实施例中，所述播撒机还包括设于所述出料口的称重单元，用于对多个第二开度下流经所述出料口的第二固体物料进行称重，以使所述播撒控制单元根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。所述控制单元703可以是集成芯片，所述称重单元可以是集成在控制单元703中的传感器。
在一些实施例中，所述播撒机还可包括交互组件、通信单元和/或存储单元。所述交互组件可以是按键、触摸屏等，用于进行人机交互，以接收用户输入的控制指令，例如，模型更新指令等。所述通信单元可以接收其他设备发送的控制指令，例如，所述更新指令和/或控制模型可以由其他设备发送。所述存储单元可以存储所述控制模型。
上述播撒控制单元703所执行的方法详见前述固体物料的播撒控制方法的实施例，此处不再赘述。
如图8所示，本公开实施例还提供一种可移动平台，包括本公开任一实施例所述的固体物料的播撒控制装置，或者本公开任一实施例所述的播撒机。所述可移动平台可以是无人机、无人车、可移动机器人等，本公开对此不作限制。图8以无人机为例，对本公开实施例的方案进行说明，本领域技术人员可以理解，在实际应用中，可移动平台不限于无人机。
在一些实施例中，所述可移动平台还包括运动控制单元，用于在播撒所述第一固体物料时，控制所述可移动平台的行驶状态(例如，行驶速度、行驶方向、行驶姿态等)。
参见图8，无人机800可包括物料箱801，用于存储固体物料，物料箱与播撒机802机械连接，物料箱的出口连接到播撒机的入口。播撒机可以安装在无人机800的底部，以便在无人机800飞行过程中，向下播撒物料803。无人机还可包括多个桨叶，用于 带动无人机飞行。进一步地，无人机800还可包括动力系统，用于为无人机提供动力。无人机800上的飞行控制系统可以基于预先存储的路径点信息控制无人机在指定路径上作业(例如，播种、施肥)，以及在作业完成或者需要更换物料的情况下控制无人机800飞往指定地点。飞行控制系统还可以接收用户终端(例如，手机、遥控器等)发送的指令，以基于该指令控制无人机800的状态。
本公开实施例还提供一种固体物料的播撒控制系统，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述系统包括：本公开任一实施例所述的播撒机；以及用户终端，用于获取用户输入的控制指令，所述控制指令中携带所述控制模型的标识信息，并将所述控制指令发送至所述播撒机。
如图9所示，是本公开实施例的固体物料的播撒控制系统中各部分的交互示意图。用户终端901用于控制所述可移动平台的行驶状态；和/或对所述控制模型进行更新。其中，用户终端901可以向可移动平台的调度控制系统发送控制指令，用于规划可移动平台的作业任务(例如，播种、施肥)，控制指令中可以携带作业区域的位置信息、作业时长、作业路径信息等，可移动平台902上的运动控制系统(例如无人机的飞行控制系统)可以基于用户终端901发送的控制指令，控制可移动平台的状态，还可以向播撒机903中的控制单元发送启动指令，以启动播撒机进行物料播撒。播撒机903中的控制单元可以控制播撒机本体中的甩盘电机、物料检测单元、阀门电机等进行工作，以实现按照设定的目标流量进行物料播撒。播撒机903中的控制单元还可以集成称重传感器，以便对物料进行称重。
本公开实施例还提供一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得所述计算机执行前述任一实施例所述的方法。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
通过以上的实施方式的描述可知，本领域的技术人员可以清楚地了解到本说明书实施例可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本说明书实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本说明书实施例各个实施例或者实施例的某些部分所述的方法。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机，计算机的具体形式可以是个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件收发设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任意几种设备的组合。
以上实施例中的各种技术特征可以任意进行组合，只要特征之间的组合不存在冲突或矛盾，但是限于篇幅，未进行一一描述，因此上述实施方式中的各种技术特征的任意进行组合也属于本公开的范围。
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- 一种固体物料的播撒控制方法，其特征在于，用于可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述方法包括：获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制对所述第一固体物料进行播撒的目标流量。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：基于以下方式建立所述控制模型：获取多个第二开度下流经所述出料口的第二固体物料的重量；根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。
- 根据权利要求2所述的方法，其特征在于，所述根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型，包括：获取所述第二开度在第一时间段内随时间变化的第一变化关系；获取所述第一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系；基于所述第一变化关系和所述第二变化关系，建立所述控制模型。
- 根据权利要求3所述的方法，其特征在于，所述第一时间段包括多个子时间段，每个子时间段内所述第二开度均保持不变；所述获取所述第一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系，包括：分别获取各个子时间段内，流经所述出料口的所述第二固体物料的重量与所述子时间段的比值；分别基于各个子时间段的所述比值，确定对应时间段的所述第二变化关系。
- 根据权利要求3所述的方法，其特征在于，所述第二开度在第一时间段内随时间连续变化；所述获取所述第一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系，包括：确定所述第一时间段内多个时间点流经所述出料口的所述第二固体物料的重量；基于所述多个时间点流经所述出料口的所述第二固体物料的重量确定所述第二变 化关系。
- 根据权利要求2所述的方法，其特征在于，所述出料口设有称重单元，用于对多个第二开度下流经所述出料口的第二固体物料进行称重。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：控制称重单元对多个第一开度下流经所述出料口的第一固体物料进行称重，根据所述多个第一开度与对应第一开度下流经所述出料口的第一固体物料的重量，对所述控制模型进行更新。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：获取所述可移动平台的移动速度；确定与所述移动速度对应的目标流量。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：对所述第一固体物料的剩余量进行检测；在检测到所述剩余量小于预设值的情况下，控制所述可移动平台飞行至指定地点。
- 根据权利要求1所述的方法，其特征在于，所述获取预先建立的第一固体物料的控制模型，包括：接收用户通过交互单元输入的控制指令，所述控制指令中携带所述控制模型的标识信息；基于所述标识信息获取所述控制模型。
- 根据权利要求1所述的方法，其特征在于，所述出料口设有甩盘单元，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。
- 根据权利要求1所述的方法，其特征在于，所述出料口设有阀门，所述出料口的开度基于所述阀门的开启量来控制。
- 一种固体物料的播撒控制装置，其特征在于，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述装置包括处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的指令用于执行以下操作：获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系；在播撒所述第一固体物料时，根据所述控制模型将所述出料口调节至目标开度，以控制所述第一固体物料的目标流量。
- 根据权利要求13所述的装置，其特征在于，所述处理器还用于：获取多个第二开度下流经所述出料口的第二固体物料的重量，根据所述多个第二 开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。
- 根据权利要求14所述的装置，其特征在于，所述处理器用于：获取所述第二开度在第一时间段内随时间变化的第一变化关系；获取所述第一时间段内流经所述出料口的所述第二固体物料的重量随时间变化的第二变化关系；基于所述第一变化关系和所述第二变化关系，建立所述控制模型。
- 根据权利要求15所述的装置，其特征在于，所述第一时间段包括多个子时间段，每个子时间段内所述第二开度均保持不变；所述处理器用于：分别获取各个子时间段内，流经所述出料口的所述第二固体物料的重量与所述子时间段的比值；分别基于各个子时间段的所述比值，确定对应时间段的所述第二变化关系。
- 根据权利要求15所述的装置，其特征在于，所述第二开度在第一时间段内随时间连续变化；所述处理器用于：确定所述第一时间段内多个时间点流经所述出料口的所述第二固体物料的重量；基于所述多个时间点流经所述出料口的所述第二固体物料的重量确定所述第二变化关系。
- 根据权利要求14所述的装置，其特征在于，所述出料口设有称重单元，用于对多个第二开度下流经所述出料口的第二固体物料进行称重。
- 根据权利要求13所述的装置，其特征在于，所述处理器还用于：控制称重单元对多个第一开度下流经所述出料口的第一固体物料进行称重，根据所述多个第一开度与对应第一开度下流经所述出料口的第一固体物料的重量，对所述控制模型进行更新。
- 根据权利要求13所述的装置，其特征在于，所述处理器还用于：获取所述可移动平台的移动速度；确定与所述移动速度对应的目标流量。
- 根据权利要求13所述的装置，其特征在于，所述处理器还用于：对所述第一固体物料的剩余量进行检测；在检测到所述剩余量小于预设值的情况下，控制所述可移动平台飞行至指定地点。
- 根据权利要求13所述的装置，其特征在于，所述处理器用于：接收用户通过交互单元输入的控制指令，所述控制指令中携带所述控制模型的标识信息；基于所述标识信息获取所述控制模型。
- 根据权利要求13所述的装置，其特征在于，所述出料口设有甩盘单元，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。
- 根据权利要求13所述的装置，其特征在于，所述出料口设有阀门，所述出料口的开度基于所述阀门的开启量来控制。
- 一种播撒机，其特征在于，安装在可移动平台上，用于在所述可移动平台在行驶过程中对装载的第一固体物料进行播撒；所述播撒机包括：机械阀门，设于用于装载第一固体物料的物料箱的出料口，用于控制所述出料口的开度；以及播撒控制单元，用于获取预先建立的第一固体物料的控制模型，所述控制模型用于表征所述第一固体物料的流量与出料口的开度的对应关系，在播撒所述第一固体物料时，根据所述控制模型控制所述机械阀门的开启量，以将所述出料口调节至目标开度，从而控制对所述第一固体物料进行播撒的目标流量。
- 根据权利要求25所述的播撒机，其特征在于，所述播撒机还包括：第一电机，用于控制所述机械阀门的开启量。
- 根据权利要求25所述的播撒机，其特征在于，所述播撒机还包括：甩盘单元，用于将流经所述出料口的所述第一固体物料播撒到不同的方向。
- 根据权利要求27所述的播撒机，其特征在于，所述播撒机还包括：第二电机，用于控制所述甩盘单元的转速。
- 根据权利要求25所述的播撒机，其特征在于，所述播撒机还包括：物料检测单元，用于检测所述第一固体物料的剩余量；其中，所述可移动平台在所述剩余量小于预设值的情况下飞行至指定地点。
- 根据权利要求29所述的播撒机，其特征在于，所述物料检测单元包括：设于所述出料口的阻尼棒；以及第三电机，用于在预设功率下驱动所述阻尼棒转动；其中，所述剩余量基于所述预设功率下所述阻尼棒的转速确定。
- 根据权利要求29所述的播撒机，其特征在于，所述物料检测单元包括：设于所述物料箱内的距离传感器，用于检测与所述第一固体物料的距离，并基于所述距离确定所述剩余量；或者设于所述物料箱内的视觉传感器，用于获取所述物料箱内的图像，并基于获取的图像确定所述剩余量。
- 根据权利要求25所述的播撒机，其特征在于，所述播撒机还包括：设于所述出料口的称重单元，用于对多个第二开度下流经所述出料口的第二固体物料进行称重，以使所述播撒控制单元根据所述多个第二开度与对应第二开度下流经所述出料口的第二固体物料的重量，建立所述控制模型。
- 一种可移动平台，其特征在于，所述可移动平台包括：权利要求13至24任意一项所述的固体物料的播撒控制装置，或者权利要求25至32任意一项所述的播撒机。
- 根据权利要求33所述的可移动平台，其特征在于，所述可移动平台还包括：运动控制单元，用于在播撒所述第一固体物料时，控制所述可移动平台的行驶状态。
- 一种固体物料的播撒控制系统，其特征在于，用于在可移动平台在行驶过程中对携带的第一固体物料的播撒流量进行控制，所述系统包括：权利要求25至32任意一项所述的播撒机；以及用户终端，用于获取用户输入的控制指令，所述控制指令中携带所述控制模型的标识信息，并将所述控制指令发送至所述播撒机。
- 根据权利要求35所述的系统，其特征在于，所述用户终端还用于：控制所述可移动平台的行驶状态；和/或对所述控制模型进行更新。
- 一种计算机可读存储介质，包括指令，其特征在于，当其在计算机上运行时，使得所述计算机执行权利要求1至12任意一项所述的视频处理方法。
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