WO2022141102A1 - 农业无人机的作业控制方法及装置、农业无人机 - Google Patents
农业无人机的作业控制方法及装置、农业无人机 Download PDFInfo
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- 239000000463 material Substances 0.000 claims abstract description 153
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
Definitions
- the present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to an operation control method of an agricultural unmanned aerial vehicle, an operation control device of an agricultural unmanned aerial vehicle, an agricultural unmanned aerial vehicle, an electronic device, and a readable storage device. medium and a computer program product.
- drones can be applied to various industries in need. For example, the application of drones in agricultural operations, logistics and distribution, geological survey and other fields.
- agricultural drones can realize modern agricultural operations.
- the use of agricultural drones can add pesticides, fungicides, herbicides, and defoliants, sugar enhancers, fertilizers, etc. It can also be used for planting of solid seeds, and can also perform work such as surveying and mapping of farmland.
- the application of agricultural drones plays a very important role in preventing and controlling diseases and insect pests, increasing crop yields, and realizing agricultural automation.
- the present disclosure provides an operation control method for an agricultural drone, which includes: acquiring the current location information of the agricultural drone; determining an operation coverage area of the agricultural drone according to the current location information of the agricultural drone; A plurality of target sub-areas are determined in the operation coverage area of the above-mentioned agricultural drone, wherein each of the above-mentioned target sub-areas has a corresponding preset material delivery amount; The corresponding preset material delivery amount determines the actual material delivery amount that matches the current position information of the above agricultural drone.
- the present disclosure also provides an operation control device for an agricultural drone, comprising: a first acquisition module for acquiring the current position information of the agricultural drone; a first determination module for obtaining the current position information of the agricultural drone according to the current The location information of the above-mentioned agricultural UAV determines the operation coverage area of the above-mentioned agricultural UAV; the second determination module is used to determine a plurality of target sub-areas from the operation coverage area of the above-mentioned agricultural UAV, wherein each of the above-mentioned target sub-areas has a corresponding a preset material delivery amount; and a third determination module for determining a match with the current position information of the agricultural drone according to the preset material delivery amount corresponding to each of the above target sub-areas in the plurality of target sub-areas actual material delivery.
- the present disclosure also provides an agricultural drone, comprising: a power device for providing flight power for the agricultural drone; a spraying system for performing the operations of the agricultural plant protection drone; a flight controller, which is compatible with the above
- the power unit is electrically connected to the above-mentioned spraying system, and is used for controlling the above-mentioned power unit and the above-mentioned spraying system; wherein, the above-mentioned flight controller is also used for executing the above-mentioned method.
- the present disclosure also provides an electronic device, comprising: a processor; a memory for storing one or more programs, wherein when the one or more programs are executed by the processor, the processor is caused to execute the above-mentioned Methods.
- the present disclosure also provides a readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method as described above.
- the present disclosure also provides a computer program product comprising a computer program that, when executed by a processor, causes the processor to perform the method as described above.
- the actual material delivery amount matching the current position information of the agricultural drone is determined, and the prescription diagram is guaranteed.
- the accuracy of the dosage in the grid of the upper operation area avoids the problem of missing or overspraying in variable operation due to the large difference between the dosage of the current grid and the adjacent grid, effectively improving the accuracy of variable operation and ensuring The job effect of the variable job.
- FIG. 1 schematically shows an application scenario to which an operation control method and apparatus of an agricultural drone can be applied according to an embodiment of the present disclosure.
- FIG. 2 schematically shows a flowchart of an operation control method of an agricultural drone according to an embodiment of the present disclosure.
- FIG. 3 schematically shows a schematic diagram of an operation coverage area of an agricultural drone according to an embodiment of the present disclosure.
- FIG. 4 schematically shows the determination of the actual material delivery that matches the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the plurality of target sub-areas according to an embodiment of the present disclosure. quantity flow chart.
- FIG. 5 schematically shows the determination of the actual position matching the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the plurality of target sub-areas according to another embodiment of the present disclosure.
- FIG. 6 schematically shows a block diagram of an operation control device of an agricultural drone according to an embodiment of the present disclosure.
- FIG. 7 schematically shows a block diagram of an agricultural drone according to an embodiment of the present disclosure.
- the computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the instructions, when executed by the processor, may be created to implement the functions illustrated in the block diagrams and/or flow diagrams /Operating the device.
- the techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). Additionally, the techniques of the present disclosure may take the form of a computer program product on a computer-readable storage medium having stored instructions for use by or in conjunction with an instruction execution system.
- the prescription map of the variable operation of agricultural drones is composed of grids with a certain area, and the color of each grid represents the amount per unit area required by the grid or the total amount required by the grid.
- the agricultural drone determines that the current position is in a certain grid, calculates the flow according to the amount corresponding to the current grid, and determines the current operation instruction of the agricultural drone.
- the position of the agricultural drone in the grid may be located in the center of the grid, or may be located at the edge of the grid, and the area covered by the spraying and padding of the agricultural drone may be Including multiple adjacent grids, so that multiple grids adjacent to the grid where the agricultural drone is currently located will also be sprayed and seeded, resulting in the flow calculated based on the current position of the agricultural drone is not the agricultural drone spraying and seeding
- the actual demand within the coverage area which in turn leads to the inaccuracy of the amount of variable operation of agricultural drones. This problem is a long-standing problem in the field of variable operation.
- the real-time usage value of the current variable operation corresponds to the grid on the prescription map according to the current position of the agricultural drone, and the usage represented by the grid is the usage of the agricultural drone at the current moment.
- the division of the grid on the prescription map does not match the track of the agricultural drone, and the agricultural drone may be at the edge of a grid at any time. It is small, and the adjacent grids (within the operating range) are quite different from the required mu consumption in the current grid, which will cause agricultural drones to perform variable operations based on the mu consumption in the current grid. There will be leakage/over-spray problems in each grid area, and more accurate variable operation cannot be achieved.
- the embodiments of the present disclosure provide an operation control method for an agricultural drone, including: acquiring the current location information of the agricultural drone; determining the operation coverage of the agricultural drone according to the current location information of the agricultural drone area; determine a plurality of target sub-areas from the operation coverage area of the above-mentioned agricultural drone, wherein each of the above-mentioned target sub-areas has a corresponding preset material delivery amount; and according to each of the above-mentioned targets in the plurality of above-mentioned target sub-areas The preset material delivery amount corresponding to each sub-area determines the actual material delivery amount that matches the current position information of the agricultural drone.
- the embodiments of the present disclosure can more accurately calculate the actual material delivery amount, so as to control the agricultural drone to perform variable operations.
- the following describes the application scenarios of the operation control method and device of the agricultural drone.
- FIG. 1 schematically shows an application scenario to which an operation control method and apparatus of an agricultural drone can be applied according to an embodiment of the present disclosure. It should be noted that FIG. 1 is only an example of a scenario to which the embodiments of the present disclosure can be applied, so as to help those skilled in the art to understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be applied to other devices , system, environment or scene.
- the agricultural drone 101 can perform variable operations on a forest or cultivated land.
- the prescription map of the forest or cultivated land can be obtained in advance.
- the agricultural drone 101 has the characteristics of strong maneuverability, high operation efficiency, low cost, and strong environmental adaptability, and can be applied in fields such as crop application, fertilization, pollination and farmland monitoring.
- the agricultural drone 101 can perform various types of variable operations. As shown in FIG. 1 , the agricultural drone 101 can spray liquid 102 on woodland or farmland, or spread solids and powders, and the like. According to embodiments of the present disclosure, variable operations include, but are not limited to, spraying of pesticides, fungicides, herbicides, and additives such as defoliants, sugar enhancers, fertilizers, etc. sowing operations.
- the agricultural drone 101 can obtain the current location information of the agricultural drone 101; determine the operation coverage area of the agricultural drone 101 according to the current location information of the agricultural drone 101; 101 to determine a plurality of target sub-areas in the operation coverage area; and according to the preset material delivery amount corresponding to each target sub-area in the plurality of target sub-areas, determine the actual location information that matches the current position information of the agricultural drone 101. Material delivery.
- the agricultural UAV 101 that can support variable operation can obtain the usage information of multiple target sub-areas in real time through the prescription map, and then calculate the current spraying/sowing according to the usage information of the multiple target sub-areas. flow, and send the instructions to the executive agency corresponding to the agricultural drone 101 to complete the plant protection operation.
- the target sub-region may be one or more grids on the prescription map.
- the actual material delivery amount that matches the current position information of the agricultural drone is determined, and the prescription diagram is guaranteed.
- the accuracy of the dosage in the grid of the upper operation area avoids the problem of missing or overspraying in variable operation due to the large difference between the dosage of the current grid and the adjacent grid, effectively improving the accuracy of variable operation and ensuring The job effect of the variable job.
- FIG. 2 schematically shows a flowchart of an operation control method of an agricultural drone according to an embodiment of the present disclosure.
- the operation control method of the agricultural drone includes operations S201 to S204.
- the current position information of the agricultural drone can be acquired by using the positioning device on the agricultural drone.
- Positioning devices include, but are not limited to, GPS positioning devices, ultrasonic sensors, and the like.
- the operation coverage area of the agricultural drone is determined according to the current position information of the agricultural drone.
- the current position information of the agricultural drone can be used as a reference position, and the area that can be covered by the spraying system of the agricultural drone can be used as the operation coverage area of the agricultural drone.
- the spraying system of the agricultural drone can be arranged on the wing or the bottom of the fuselage.
- the current position information of the agricultural drone can be used as a reference position, and the operation coverage area of the agricultural drone can be determined according to the spray width of the spraying system.
- the shape of the work coverage area is not limited, for example, it may be a rectangle, a circle, and the like.
- a plurality of target sub-areas are determined from the operation coverage area of the agricultural drone, wherein each target sub-area has a corresponding preset material delivery amount.
- the job coverage area may include a plurality of sub-areas, each sub-area has a corresponding grid on the prescription map, and the preset material delivery amount corresponding to each sub-area is the preset amount of the corresponding grid on the prescription map.
- the material delivery quantity is the same or has a mapping relationship.
- all sub-areas in the job coverage area may be used as multiple target sub-areas, and some sub-areas in the job coverage area may also be used as multiple target sub-areas.
- the number of target sub-regions is also preset, for example, it may be 5, 7, 10 and so on.
- the preset material delivery amount of each target sub-area is related to the area of the target sub-area, and the larger the area of the target sub-area, the larger the preset material delivery amount.
- the preset material delivery amount corresponding to each target sub-area can be weighted and summed, thereby determining the actual material delivery amount that matches the current position information of the agricultural drone.
- the agricultural drone operation can be controlled according to the actual material delivery amount.
- agricultural drones can control the spraying system to deliver the actual material delivery amount according to a certain flow.
- FIG. 3 schematically shows a schematic diagram of an operation coverage area of an agricultural drone according to an embodiment of the present disclosure.
- the agricultural drone can fly along the route shown in Figure 3, and the grid in Figure 3 corresponds to the grid in the prescription map of the agricultural drone operation at a certain scale.
- the agricultural drone is currently at position 301, and the current position 301 of the agricultural drone is used as a reference position, and the operation coverage area 302 of the agricultural drone is determined according to the spray width of the agricultural drone.
- the job coverage area 302 may include multiple sub-areas.
- the job coverage area 302 may be, for example, a rectangular area, a circular area, or the like.
- determining a plurality of target sub-areas from the operation coverage area of the agricultural drone includes: taking the current position of the agricultural drone as the center, selecting an interval from the center in the operation coverage area of the agricultural drone One or more target sub-regions at preset distances.
- the area where the target point 303 separated from the center by one or more preset distances is the target sub-area.
- the area where 303 is located may be the area where the grid in the prescription diagram is located.
- the preset distance may be determined according to the spray width of the agricultural drone. For example, one third of the spray pattern can be used as the preset distance, or one quarter of the spray pattern can be used as the preset distance, and so on.
- the preset distance may not be determined according to the spray width.
- the preset distance may be set according to experience, and the preset distance may be set according to the length of the grid.
- the preset distance is determined based on the spray width or the length of the grid of the agricultural drone, which can ensure the accuracy of the dosage in the grid of the operation area on the prescription map, and effectively improve the accuracy of variable operation.
- FIG. 2 The method shown in FIG. 2 will be further described below with reference to FIG. 4 to FIG. 5 in conjunction with specific embodiments.
- FIG. 4 schematically shows the determination of the actual material delivery that matches the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the plurality of target sub-areas according to an embodiment of the present disclosure. quantity flow chart.
- determining the actual material delivery amount matching the current position information of the agricultural drone includes operations S401 to S402 .
- the weight of each target sub-region may be the same or different.
- the manner of determining the weight of each target sub-region is not limited.
- the distance between each target sub-area and the current position of the agricultural drone can be determined first, so as to obtain the calculated distance corresponding to each target sub-area;
- the corresponding calculated distance determines the weight of each target sub-region.
- the weight of each target sub-region can be determined according to the principle that the smaller the calculated distance is, the higher the weight is, and the larger the calculated distance is, the lower the weight is.
- the preset material delivery amount corresponding to each target sub-area and the weight corresponding to each target sub-area can be weighted and summed to obtain the actual material delivery amount.
- the embodiments of the present disclosure propose a method for calculating precise dosages, which acquires the current position of the aircraft and the actual dosage within the operating range in real time. After the weighted average of the corresponding consumption of each target sub-area, it is used as the optimal consumption to replace the single-point consumption. This value can better represent the actual demand at the current location, making the variable operation more accurate.
- determining the weight of each target sub-region according to the corresponding calculated distance of each target sub-region includes: sorting the corresponding calculated distances of each target sub-region according to the size of the distance to obtain a sorting result; And determine the weight of each target sub-region according to the sorting result.
- the respective calculated distances corresponding to each target sub-region can be sorted from small to large, or sorted from large to small, to obtain a sorting result; and determine the distance of each target sub-region according to the sorting result. Weights.
- determining the weight of each target sub-region according to the sorting result includes: in the case of configuring the weight for each target sub-region according to the sorting result obtained after sorting from small to large, sorting the i-th
- the weight of the target sub-region of bits is configured to be greater than the weight of the target sub-region ordered at the i+1-th bit.
- the method of calculating the mean value can be used to determine the actual material matching the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the multiple target sub-areas delivery volume.
- FIG. 5 schematically shows the determination of the actual position matching the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the plurality of target sub-areas according to another embodiment of the present disclosure.
- determining the actual material delivery amount matching the current position information of the agricultural drone includes operations S501 to S503 .
- the preset material delivery volume with the largest preset material delivery volume and/or the preset material delivery volume with the smallest preset material delivery volume is filtered out.
- the preset materials with the largest preset material delivery amount and/or the smallest preset material delivery amount can be removed In order to make the calculated actual material delivery amount more accurate.
- the average value of the preset material delivery amounts corresponding to the remaining target sub-areas is determined as the actual material delivery amount.
- the actual material delivery amount in addition to the solution of first removing the preset material delivery amount with the largest preset material delivery amount and/or the preset material delivery amount with the smallest preset material delivery amount, it is also possible to directly calculate the actual material delivery amount according to each The preset material delivery amount corresponding to each target sub-area is calculated, and the average value of the preset material delivery amount is calculated; the average value is determined as the actual material delivery amount.
- the current operation parameters of the agricultural drone can be obtained, and the agricultural drone can be determined according to the actual material delivery amount and the current operation parameters of the agricultural drone.
- the operation parameters include one or more of the following: operation flight speed, operation time, operation distance, spray width of agricultural drones, flight height of agricultural drones, and nozzle flow rate.
- devices such as sensors can be used to obtain current operating parameters of agricultural drones, including but not limited to position sensors, such as at least one of gyroscopes, positioning antennas, electronic compass, and inertial measurement units.
- position sensors such as at least one of gyroscopes, positioning antennas, electronic compass, and inertial measurement units.
- ultrasonic sensors and visual sensors can also be used to obtain the spray width of agricultural drones
- environmental sensors and barometers can be used to obtain other operational information.
- operation information such as the flow rate or flow rate of the nozzle is obtained through a device such as a flow valve.
- the current operation flow of the agricultural drone to determine the current operation flow of the agricultural drone, reference may be made to one or more of the above-mentioned operation parameters. For example, determine the current operation flow of agricultural drones according to the actual material delivery amount and the current operating flight speed of agricultural drones; determine the current operating flow of agricultural drones; or, determine the current operating flow of agricultural drones according to the actual material delivery, operating flight speed and operating distance.
- the actual material delivery amount, the operation flight speed and the operation distance can be multiplied to obtain a product result; the current operation flow of the agricultural drone can be determined according to the product result.
- the current position 301 of the agricultural drone can be acquired in real time, and the positions of each interval 1/3 of the spray width perpendicular to the operation route of the agricultural drone can be acquired in real time.
- the amount per mu corresponding to the target point 303 of the target point 303 can be obtained at the same time.
- the weight distribution can be based on the principle that the inner weight is higher and the outer weight is lower, to obtain the optimal mu usage in the current operation area, and calculate the operational flow of agricultural drones according to the optimal mu usage.
- the formula for calculating the operational flow can refer to It is shown in the following formula (1).
- Mu is the current optimal mu consumption (unit can be kg/mu, or L/mu)
- V is the current flight speed (unit can be m/s)
- L is the operating distance (that is, the distance between two routes , the unit can be m)
- flow is the job flow.
- FIG. 6 schematically shows a block diagram of an operation control device of an agricultural drone according to an embodiment of the present disclosure.
- the operation control device 600 of the agricultural drone includes: a first acquisition module 610 , a first determination module 620 , a second determination module 630 and a third determination module 640 .
- the first obtaining module 610 is used to obtain the current position information of the agricultural drone.
- the first determining module 620 is configured to determine the operation coverage area of the agricultural drone according to the current position information of the agricultural drone.
- the second determination module 630 is configured to determine a plurality of target sub-areas from the operation coverage area of the agricultural drone, wherein each target sub-area has a corresponding preset material delivery amount.
- the third determination module 640 is configured to determine the actual material delivery amount that matches the current position information of the agricultural drone according to the preset material delivery amount corresponding to each target sub-area in the multiple target sub-areas.
- the actual material delivery amount that matches the current position information of the agricultural drone is determined, and the prescription diagram is guaranteed.
- the accuracy of the dosage in the grid of the upper operation area avoids the problem of missing or overspraying in variable operation due to the large difference between the dosage of the current grid and the adjacent grid, effectively improving the accuracy of variable operation and ensuring The job effect of the variable job.
- the third determination module includes: a first determination unit and a second determination unit.
- the first determination unit is used to determine the weight of each target sub-region.
- the second determination unit is configured to determine the actual material delivery amount that matches the current position information of the agricultural drone according to the preset material delivery volume and weight corresponding to each target sub-area.
- the second determining unit is configured to: perform a weighted sum of the preset material delivery amount corresponding to each target sub-area and the weight corresponding to each target sub-area to obtain the actual material delivery amount.
- the first determination unit includes: a first determination subunit and a second determination subunit.
- the first determination sub-unit is used to determine the distance between each target sub-area and the current position of the agricultural drone, and obtain the calculated distance corresponding to each target sub-area.
- the second determination subunit is configured to determine the weight of each target subregion according to the corresponding calculated distance of each target subregion.
- the second determination subunit includes: a sorting submodule and a determination submodule.
- the sorting sub-module is used to sort the calculated distances corresponding to each target sub-region according to the size of the distances to obtain a sorting result.
- a determination submodule is used to determine the weight of each target subregion according to the sorting result.
- the determination sub-module is used to: in the case of configuring a weight for each target sub-region according to the sorting result obtained after sorting from small to large, determine the weight of the target sub-region sorted at the ith position Configured to be greater than the weight of the target sub-region sorted in the i+1th position.
- the third determination module includes: a filtering unit, a first calculation unit, and a third determination unit.
- the filtering unit is used to filter out the preset material delivery amount with the largest preset material delivery amount and/or the preset material delivery amount with the smallest preset material delivery amount among the preset material delivery amounts corresponding to each target sub-area.
- the first calculation unit is used to calculate the average value of the preset material delivery amounts corresponding to the remaining target sub-areas.
- the third determination unit is used to determine the average value as the actual material delivery amount.
- the third determination module includes: a second calculation unit and a fourth determination unit.
- the second calculation unit is configured to calculate the average value of the preset material delivery amount according to the preset material delivery amount corresponding to each target sub-area.
- the fourth determination unit is used to determine the average value as the actual material delivery amount.
- the second determination module is configured to: take the current position of the agricultural drone as the center, and select a target sub-area that is separated from the center by one or more preset distances in the operation coverage area of the agricultural drone .
- the operation control device 600 of the agricultural drone further includes: a fourth determination module, configured to determine the preset distance according to the spray width of the agricultural drone.
- the operation control device 600 of the agricultural drone further includes: a second acquisition module and a fifth determination module.
- the second acquisition module is used to acquire the current operating parameters of the agricultural drone
- the fifth determination module is used to determine the current operation flow of the agricultural drone according to the actual material delivery amount and the current operation parameters of the agricultural drone.
- the operation parameters include one or more of the following: operation flight speed, operation duration, operation distance, spray width of agricultural drones, flight height of agricultural drones, and nozzle flow rate.
- the fifth determination module includes: a third calculation unit and a fifth determination unit.
- the third calculation unit is used to multiply the actual material delivery amount, the operation flight speed and the operation distance to obtain the multiplication result
- the fifth determination unit is used to determine the current operating flow of the agricultural drone according to the product result.
- the operation control device 600 of the agricultural drone further includes: a control module for controlling the operation of the agricultural drone according to the actual material delivery amount.
- FIG. 7 schematically shows a block diagram of an agricultural drone according to an embodiment of the present disclosure.
- the agricultural drone 700 includes a power unit 710 , a spraying system 720 and a flight controller 730 .
- the power device 710 is used to provide flying power for the agricultural drone.
- the power plant may include a propulsion unit for generating lift to propel the agricultural drone so that the agricultural drone can fly in three-dimensional space.
- the spraying system 720 is used to perform the operation of the agricultural drone.
- the spray system may include containers for holding pesticides, nozzles for spraying, and matching connectors, etc.
- the flight controller 730 is electrically connected with the power device and the spraying system, and is used for controlling the power device and the spraying system; wherein, the flight controller is also used for executing the above-mentioned operation control method of the agricultural drone.
- Flight controller 730 may include one or more memory storage devices including non-transitory computer readable media containing code, logic or instructions for performing one or more actions. Flight controller 730 may include one or more processors capable of executing code in a non-transitory computer-readable medium.
- agricultural drone 700 may have one or more arms or branches that extend.
- the arms may extend laterally or radially from the body.
- the arm may be movable relative to the body, or may be fixed relative to the body.
- These arms can support one or more propulsion units.
- each arm may support one, two or more propulsion units.
- the actual material delivery amount that matches the current position information of the agricultural drone is determined, and the prescription diagram is guaranteed.
- the accuracy of the dosage in the grid of the upper operation area avoids the problem of missing or overspraying in variable operation due to the large difference between the dosage of the current grid and the adjacent grid, effectively improving the accuracy of variable operation and ensuring The job effect of the variable job.
- an electronic device comprising: a processor; a memory for storing one or more programs, wherein, when the one or more programs are executed by the processor, the processor is caused to execute an agricultural Man-machine job control method.
- the processor may include, for example, a general-purpose microprocessor, an instruction set processor and/or a related chipset and/or a special-purpose microprocessor (eg, an application specific integrated circuit (ASIC)), and the like.
- the processor may also include onboard memory for caching purposes.
- the processor may be a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.
- a readable storage medium having executable instructions stored thereon, the instructions, when executed by a processor, cause the processor to execute an operation control method of an agricultural drone.
- the readable storage medium may be included in the apparatus/apparatus/system described in the above embodiments; or may exist alone without being assembled into the apparatus/apparatus/system.
- the above-mentioned readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.
- a computer program product including a computer program, which, when executed by a processor, causes the processor to execute an operation control method of an agricultural drone.
- the actual material delivery amount that matches the current position information of the agricultural drone is determined, and the prescription diagram is guaranteed.
- the accuracy of the dosage in the grid of the upper operation area avoids the problem of missing or overspraying in variable operation due to the large difference between the dosage of the current grid and the adjacent grid, effectively improving the accuracy of variable operation and ensuring The job effect of the variable job.
- the readable storage medium may be a non-volatile readable storage medium, for example, it may include, but is not limited to, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), a Erase programmable read only memory (EPROM or flash memory), portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.
- a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions.
- the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
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Abstract
一种农业无人机（101、700）的作业控制方法、一种农业无人机（101、700）的作业控制装置、一种农业无人机（101、700）、一种电子设备、一种可读存储介质和一种计算机程序产品。方法包括：获取农业无人机（101、700）当前的位置信息（301）（S201）；根据农业无人机（101、700）当前的位置信息（301）确定农业无人机（101、700）的作业覆盖区域（302）（S202）；从农业无人机（101、700）的作业覆盖区域中确定多个目标子区域，其中，每个目标子区域具有对应的预设物料投放量（S203）；以及根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机（101、700）当前的位置信息相匹配的实际物料投放量（S204）。
Description
本公开涉及无人机技术领域，尤其涉及一种农业无人机的作业控制方法、一种农业无人机的作业控制装置、一种农业无人机、一种电子设备、一种可读存储介质和一种计算机程序产品。
随着自动化控制技术的快速发展，无人机等无人驾驶技术得到了蓬勃发展。目前，无人机可以应用于有需求的各个行业。例如，将无人机应用于农耕作业、物流配送，地质勘察等领域。
农业无人机作为无人机应用的其中一种，可以实现现代化农业作业，使用农业无人机能够对杀虫剂、杀菌剂、除草剂以及催熟脱叶剂、增糖剂、肥料等添加物进行投放作业，也能够对固体种子进行播种，还能对农田进行测绘等工作。农业无人机的应用对于防治病虫害、提高农作物产量、实现农业自动化具有十分重要的作用。
然而，由于当前相关技术的局限性，农业无人机的实际作业效果不佳，有待进一步提高。
公开内容
本公开提供了一种农业无人机的作业控制方法，包括：获取上述农业无人机当前的位置信息；根据上述农业无人机当前的位置信息确定上述农业无人机的作业覆盖区域；从上述农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个上述目标子区域具有对应的预设物料投放量；以及根据多个上述目标子区域中每个上述目标子区域各自对应的预设物料投放量，确定与上述农业无人机当前的位置信息相匹配的实际物料投放量。
本公开还提供了一种农业无人机的作业控制装置，包括：第一获取模块，用于获取上述农业无人机当前的位置信息；第一确定模块，用于根据上述农业无人机当前的位置信息确定上述农业无人机的作业覆盖区域；第 二确定模块，用于从上述农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个上述目标子区域具有对应的预设物料投放量；以及第三确定模块，用于根据多个上述目标子区域中每个上述目标子区域各自对应的预设物料投放量，确定与上述农业无人机当前的位置信息相匹配的实际物料投放量。
本公开还提供了一种农业无人机，包括：动力装置，用于为上述农业无人机提供飞行动力；喷洒系统，用于执行上述农业植保无人机的作业；飞行控制器，与上述动力装置和上述喷洒系统电连接，用于控制上述动力装置和上述喷洒系统；其中，上述飞行控制器还用于执行如上所述的方法。
本公开还提供了一种电子设备，包括：处理器；存储器，用于存储一个或多个程序，其中，当上述一个或多个程序被上述处理器执行时，使得上述处理器执行如上所述的方法。
本公开还提供了一种可读存储介质，其上存储有可执行指令，该指令被处理器执行时使处理器执行如上所述的方法。
本公开还提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时使处理器执行如上所述的方法。
通过本公开的实施例，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量，保证了处方图上作业区域栅格内的用量的精确性，避免了由于当前栅格与邻近栅格的用量相差较大而导致的变量作业漏喷或过喷的问题，有效提升了变量作业的精度，保证了变量作业的作业效果。
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1示意性示出了根据本公开实施例的可以应用农业无人机的作业控制方法及装置的应用场景。
图2示意性示出了根据本公开实施例的农业无人机的作业控制方法的流程图。
图3示意性示出了根据本公开实施例的农业无人机的作业覆盖区域的示意图。
图4示意性示出了根据本公开实施例的根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量的流程图。
图5示意性示出了根据本公开另一实施例的根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量的流程图。
图6示意性示出了根据本公开实施例的农业无人机的作业控制装置的框图。
图7示意性示出了根据本公开实施例的农业无人机的框图。
下面将结合实施例和实施例中的附图，对本公开技术方案进行清楚、完整的描述。显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。在下面的详细描述中，为便于解释，阐述了许多具体的细节以提供对本公开实施例的全面理解。然而，明显地，一个或多个实施例在没有这些具体细节的情况下也可以被实施。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本公开的概念。
附图中示出了一些方框图和/或流程图。应理解，方框图和/或流程图中的一些方框或其组合可以由计算机程序指令来实现。这些计算机程序指令可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，从而这些指令在由该处理器执行时可以创建用于实现这些方框图和/或流程图中所说明的功能/操作的装置。本公开的技术可以硬件和/或软件(包括固件、微代码等)的形式来实现。另外，本公开的技术可以采取存储有指令的计算机可读存储介质上的计算机程序产品的形式，该计算机程序产品可供指令执行系统使用或者结合指令执行系统使用。
农业无人机变量作业的处方图是由一个个面积一定的栅格组成，每个 栅格的颜色表示该栅格所需要的单位面积用量或该栅格所需要的总用量。
在变量作业过程中，农业无人机确定当前时刻的位置处于某个栅格中，根据当前栅格对应的用量计算流量，并确定农业无人机当前的作业指令。
但在实现本公开的过程中发现，农业无人机处于栅格中的位置可能位于栅格的中心，也可能位于栅格的边缘，农业无人机的喷幅和拨幅所覆盖的区域可能包含邻近的多个栅格，使得与农业无人机当前所处栅格邻近的多个栅格也会被喷洒播撒，导致根据农业无人机当前位置计算的流量并非是农业无人机喷洒播撒覆盖范围内的实际需求，进而导致农业无人机变量作业的用量不精确，该问题是变量作业领域内长期存在的问题。
由此可见，当前的变量作业的实时用量值是根据农业无人机当前位置与处方图上的栅格相对应，该栅格表示的用量即为当前时刻农业无人机的用量。但是在大多数情况下，处方图上栅格的划分与农业无人机的航迹并不相匹配，农业无人机在任意时刻可能处于某个栅格的边缘处，若栅格面积划分较小，且邻近几个栅格(作业范围内)与当前栅格内的所需亩用量相差较大，就会导致农业无人机以当前栅格内的亩用量为基准进行变量作业，周围几个栅格区域内会出现漏喷/过喷的问题，无法实现较为精准的变量作业。
本公开的实施例提供了一种农业无人机的作业控制方法，包括：获取上述农业无人机当前的位置信息；根据上述农业无人机当前的位置信息确定上述农业无人机的作业覆盖区域；从上述农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个上述目标子区域具有对应的预设物料投放量；以及根据多个上述目标子区域中每个上述目标子区域各自对应的预设物料投放量，确定与上述农业无人机当前的位置信息相匹配的实际物料投放量。
本公开的实施例可以较为精准地计算实际物料投放量，以控制农业无人机进行变量作业。以下对农业无人机的作业控制方法及装置的应用场景进行说明。
图1示意性示出了根据本公开实施例的可以应用农业无人机的作业控制方法及装置的应用场景。需要注意的是，图1所示仅为可以应用本公开实施例的场景的示例，以帮助本领域技术人员理解本公开的技术内容，但 并不意味着本公开实施例不可以用于其他设备、系统、环境或场景。
如图1所示，农业无人机101可以在一片林地或耕地上进行变量作业。，可以预先获得该林地或耕地的处方图。农用无人机101具有机动性强、作业效率高、成本低、环境适应强等特点，在农作物施药、施肥、授粉和农田监测等领域都可以应用。
根据本公开的实施例，农业无人机101可以进行各种类型的变量作业。如图1所示，农业无人机101可以向林地或耕地上喷洒液体102，或者播撒固体以及粉状物等等。根据本公开的实施例，变量作业包括但不限于喷洒杀虫剂、杀菌剂、除草剂以及催熟脱叶剂、增糖剂、肥料等添加物的喷洒作业，也包括对固体种子，粉末物的播撒作业。
根据本公开的实施例，农业无人机101可以获取农业无人机101当前的位置信息；根据农业无人机101当前的位置信息确定农业无人机101的作业覆盖区域；从农业无人机101的作业覆盖区域中确定多个目标子区域；以及根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机101当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，可支持变量作业的农业无人机101能够通过处方图实时获取多个目标子区域的用量信息，进而依据多个目标子区域的用量信息计算得出当前的喷洒/播撒流量，并将指令下发给农业无人机101对应的执行机构完成植保作业。根据本公开的实施例，目标子区域可以为处方图上的一个或多个栅格。
根据本公开的实施例，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量，保证了处方图上作业区域栅格内的用量的精确性，避免了由于当前栅格与邻近栅格的用量相差较大而导致的变量作业漏喷或过喷的问题，有效提升了变量作业的精度，保证了变量作业的作业效果。
图2示意性示出了根据本公开实施例的农业无人机的作业控制方法的流程图。
需要说明的是，本公开实施例中的流程图所示的操作除非明确说明不同操作之间存在执行的先后顺序，或者不同操作在技术实现上存在执行的先后顺序，否则，多个操作之间的执行顺序可以不分先后，多个操作也可 以同时执行。
如图2所示，该农业无人机的作业控制方法包括操作S201～S204。
在操作S201，获取农业无人机当前的位置信息。
根据本公开的实施例，例如，可以利用农业无人机上的定位装置获取农业无人机当前的位置信息。定位装置包括但不限于GPS定位装置、超声传感器等等。
在操作S202，根据农业无人机当前的位置信息确定农业无人机的作业覆盖区域。
根据本公开的实施例，可以以农业无人机当前的位置信息为参考位置，将农业无人机的喷洒系统所能覆盖的区域作为农业无人机的作业覆盖区域。根据本公开的实施例，农业无人机的喷洒系统可以设置在机翼或者机身底部等位置。
根据本公开的实施例，可以以农业无人机当前的位置信息为参考位置，根据喷洒系统的喷幅宽度确定农业无人机的作业覆盖区域。
根据本公开的实施例，作业覆盖区域的形状不做限定，例如，可以是矩形，圆形等等。
在操作S203，从农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个目标子区域具有对应的预设物料投放量。
根据本公开的实施例，作业覆盖区域可以包括多个子区域，每个子区域在处方图上具有对应的栅格，每个子区域对应的预设物料投放量与处方图上对应的栅格的预设物料投放量相同或具有映射关系。
根据本公开的实施例，可以将作业覆盖区域中所有的子区域作为多个目标子区域，也可以将作业覆盖区域中部分子区域作为多个目标子区域。
根据本公开的实施例，目标子区域的数量也预先设定，例如，可以是5个，7个，10个等等。
根据本公开的实施例，每个目标子区域的预设物料投放量与目标子区域的面积相关，目标子区域的面积越大，预设物料投放量也可以越大。
在操作S204，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，例如，可以将每个目标子区域各自对应的预设物料投放量进行加权求和，从而确定与农业无人机当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，在确定与农业无人机当前的位置信息相匹配的实际物料投放量之后，可以根据实际物料投放量控制农业无人机作业。例如，农业无人机可以控制喷洒系统按照一定的流量投放实际物料投放量的物料。
图3示意性示出了根据本公开实施例的农业无人机的作业覆盖区域的示意图。
如图3所示，农业无人机可以沿着如图3所示的航线飞行，图3中的网格以一定比例对应于农业无人机作业的处方图中的栅格。根据本公开的实施例，农业无人机当前处于位置301，以农业无人机当前的位置301为参考位置，根据农业无人机的喷幅宽度确定农业无人机的作业覆盖区域302。作业覆盖区域302中可以包括多个子区域。作业覆盖区域302例如可以是矩形区域，或者圆形区域等等。
根据本公开的实施例，从农业无人机的作业覆盖区域中确定多个目标子区域包括：以农业无人机当前的位置为中心，在农业无人机的作业覆盖区域中选择与中心间隔一个或多个预设距离的目标子区域。
根据本公开的实施例，如图3所示，以农业无人机当前的位置301为中心，与该中心间隔一个或多个预设距离的目标点303所在的区域为目标子区域，目标点303所在的区域可以是处方图中的栅格所在区域。
根据本公开的实施例，可以根据农业无人机的喷幅确定预设距离。例如，可以将三分之一的喷幅作为预设距离，或者，将四分之一的喷幅作为预设距离等等。
根据本公开的实施例，也可以不根据喷幅确定预设距离，例如，还可以按照经验设置预设距离，按照栅格的长度设置预设距离。通过本公开的实施例，基于农业无人机的喷幅或者栅格的长度确定预设距离，可以保证处方图上作业区域栅格内的用量的精确性，有效提升了变量作业的精度。
下面参考图4～图5，结合具体实施例对图2所示的方法做进一步说明。
图4示意性示出了根据本公开实施例的根据多个目标子区域中每个目 标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量的流程图。
如图4所示，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量包括操作S401～S402。
在操作S401，确定每个目标子区域的权重。
根据本公开的实施例，每个目标子区域的权重可以相同，也可以不同。确定每个目标子区域的权重的方式不做限定。
根据本公开的实施例，例如，可以先确定每个目标子区域和农业无人机当前的位置之间的距离，得到每个目标子区域各自对应的计算距离；以及根据每个目标子区域各自对应的计算距离，确定每个目标子区域的权重。
根据本公开的实施例，可以按照计算距离越小权重偏高，计算距离越大权重偏低的原则，确定每个目标子区域的权重。
在操作S402，根据每个目标子区域各自对应的预设物料投放量和权重，确定与农业无人机当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，例如，可以将每个目标子区域各自对应的预设物料投放量与每个目标子区域各自对应的权重进行加权求和，得到实际物料投放量。
通过本公开的实施例，基于处方图栅格划分较细，变量作业的用量不精准的问题，本公开的实施例提出一种精准用量的计算方法，实时获取飞机当前位置与作业范围区域内的用量，将每个目标子区域各自对应用量进行加权平均后，作为最优的用量替代单点的用量，该值更能代表当前位置下的实际需求用量，使变量作业更加精确。
根据本公开的实施例，根据每个目标子区域各自对应的计算距离，确定每个目标子区域的权重包括：将每个目标子区域各自对应的计算距离按照距离大小进行排序，得到排序结果；以及按照排序结果确定每个目标子区域的权重。
根据本公开的实施例，可以将每个目标子区域各自对应的计算距离按照从小到大进行排序，或者按照从大到小进行排序，得到排序结果；以及按照排序结果确定每个目标子区域的权重。
根据本公开的实施例，按照排序结果确定每个目标子区域的权重包括：在按照从小到大进行排序后得到的排序结果，为每个目标子区域配置权重的情况下，将排序在第i位的目标子区域的权重配置为大于排序在第i+1位的目标子区域的权重。
通过本公开的实施例，实现了计算距离越小权重偏高，计算距离越大权重偏低的原则，使得计算得到的实际物料投放量更能代表当前位置下的实需亩用量，使变量作业更加精确。
根据本公开的实施例，可以利用求均值的方法，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量。
图5示意性示出了根据本公开另一实施例的根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量的流程图。
如图5所示，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量包括操作S501～S503。
在操作S501，将每个目标子区域各自对应的预设物料投放量中，预设物料投放量最大和/或预设物料投放量最小的预设物料投放量进行滤除。
根据本公开的实施例，在目标子区域的数量较多时，例如，达到5个，10个目标子区域时，可以去除预设物料投放量最大和/或预设物料投放量最小的预设物料投放量，以使得计算得到的实际物料投放量更加精准。
在操作S502，计算剩余的目标子区域各自对应的预设物料投放量的平均值。
在操作S503，将剩余的目标子区域各自对应的预设物料投放量的平均值确定为实际物料投放量。
根据本公开的实施例，在计算实际物料投放量时，除了先去除预设物料投放量最大和/或预设物料投放量最小的预设物料投放量这一方案之外，也可以直接根据每个目标子区域各自对应的预设物料投放量，计算预设物料投放量的平均值；将平均值确定为实际物料投放量。
根据本公开的实施例，提供了多种计算与农业无人机当前的位置信息 相匹配的实际物料投放量的方法。
根据本公开的实施例，在确定农业无人机的实际物料投放量之后，可以获取农业无人机当前的作业参数，根据实际物料投放量和农业无人机当前的作业参数，确定农业无人机当前的作业流量。其中，作业参数包括以下一种或多种：作业飞行速度、作业时长、作业间距、农业无人机的喷幅宽度、农业无人机的飞行高度、喷头流速。
根据本公开的实施例，可以利用传感器等装置获取农业无人机当前的作业参数，例如包括但不限于位置传感器，如陀螺仪、定位天线、电子罗盘、惯性测量单元中的至少一种。又例如，还可以使用超声传感器、视觉传感器(单目传感器或者双目传感器)获取农业无人机的喷幅宽度，使用环境传感器和气压计等对其它作业信息进行获取。又或者，通过流量阀等装置获取喷头流速或流量等作业信息。
根据本公开的实施例，根据实际物料投放量和农业无人机当前的作业参数，确定农业无人机当前的作业流量可以参考上述一种或多种作业参数。例如，根据实际物料投放量和农业无人机当前的作业飞行速度，确定农业无人机当前的作业流量；或者，根据实际物料投放量、农业无人机当前的作业飞行速度和农业无人机的飞行高度，确定农业无人机当前的作业流量；或者，根据实际物料投放量、作业飞行速度和作业间距确定农业无人机当前的作业流量。
根据本公开的实施例，可以将实际物料投放量、作业飞行速度和作业间距相乘，得到乘积结果；根据乘积结果确定农业无人机当前的作业流量。
根据本公开的实施例，具体地，例如，参考图3所示，可以实时获取农业无人机的当前位置301，并获取与农业无人机的作业航线垂直的各间隔1/3喷幅处的目标点303对应的亩用量，即可同时获取农业无人机当前作业范围内的7个点对应的亩用量，之后对这7个点对应的亩用量进行加权平均。权重分配可以按照内侧权重偏高，外侧权重偏低的原则，得到当前作业区域内的最优亩用量，根据该最优亩用量计算得到农业无人机的作业流量，计算作业流量的公式可以参考如下公式(一)所示。
其中，Mu为当前最优亩用量(单位可以是kg/亩，或L/亩)，V为当 前飞行速度(单位可以是m/s)，L为作业间距(即两条航线之间的距离，单位可以为m)，flow为作业流量。
根据本公开的实施例，可以实现变量作业的精准亩用量计算，使用整个作业区域的最优亩用量值代替农业无人机当前位置的单点亩用量，保证了变量作业的精确性。
图6示意性示出了根据本公开实施例的农业无人机的作业控制装置的框图。
如图6所示，农业无人机的作业控制装置600包括：第一获取模块610、第一确定模块620、第二确定模块630和第三确定模块640。
第一获取模块610，用于获取农业无人机当前的位置信息。
第一确定模块620，用于根据农业无人机当前的位置信息确定农业无人机的作业覆盖区域。
第二确定模块630，用于从农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个目标子区域具有对应的预设物料投放量。
第三确定模块640，用于根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量，保证了处方图上作业区域栅格内的用量的精确性，避免了由于当前栅格与邻近栅格的用量相差较大而导致的变量作业漏喷或过喷的问题，有效提升了变量作业的精度，保证了变量作业的作业效果。
根据本公开的实施例，其中，第三确定模块包括：第一确定单元和第二确定单元。
第一确定单元，用于确定每个目标子区域的权重。
第二确定单元，用于根据每个目标子区域各自对应的预设物料投放量和权重，确定与农业无人机当前的位置信息相匹配的实际物料投放量。
根据本公开的实施例，第二确定单元用于：将每个目标子区域各自对应的预设物料投放量与每个目标子区域各自对应的权重进行加权求和，得到实际物料投放量。
根据本公开的实施例，第一确定单元包括：第一确定子单元和第二确定子单元。
第一确定子单元，用于确定每个目标子区域和农业无人机当前的位置之间的距离，得到每个目标子区域各自对应的计算距离。
第二确定子单元，用于根据每个目标子区域各自对应的计算距离，确定每个目标子区域的权重。
根据本公开的实施例，第二确定子单元包括：排序子模块和确定子模块。
排序子模块，用于将每个目标子区域各自对应的计算距离按照距离大小进行排序，得到排序结果。
确定子模块，用于按照排序结果确定每个目标子区域的权重。
根据本公开的实施例，确定子模块用于：在按照从小到大进行排序后得到的排序结果，为每个目标子区域配置权重的情况下，将排序在第i位的目标子区域的权重配置为大于排序在第i+1位的目标子区域的权重。
根据本公开的实施例，第三确定模块包括：过滤单元、第一计算单元和第三确定单元。
过滤单元，用于将每个目标子区域各自对应的预设物料投放量中，预设物料投放量最大和/或预设物料投放量最小的预设物料投放量进行滤除。
第一计算单元，用于计算剩余的目标子区域各自对应的预设物料投放量的平均值。
第三确定单元，用于将平均值确定为实际物料投放量。
根据本公开的实施例，第三确定模块包括：第二计算单元和第四确定单元。
第二计算单元，用于根据每个目标子区域各自对应的预设物料投放量，计算预设物料投放量的平均值。
第四确定单元，用于将平均值确定为实际物料投放量。
根据本公开的实施例，第二确定模块用于：以农业无人机当前的位置为中心，在农业无人机的作业覆盖区域中选择与中心间隔一个或多个预设距离的目标子区域。
根据本公开的实施例，农业无人机的作业控制装置600还包括：第四确定模块，用于根据农业无人机的喷幅确定预设距离。
根据本公开的实施例，农业无人机的作业控制装置600还包括：第二获取模块和第五确定模块。
第二获取模块，用于获取农业无人机当前的作业参数；
第五确定模块，用于根据实际物料投放量和农业无人机当前的作业参数，确定农业无人机当前的作业流量。
根据本公开的实施例，作业参数包括以下一种或多种：作业飞行速度、作业时长、作业间距、农业无人机的喷幅宽度、农业无人机的飞行高度、喷头流速。
根据本公开的实施例，第五确定模块包括：第三计算单元和第五确定单元。
第三计算单元，用于将实际物料投放量、作业飞行速度和作业间距相乘，得到乘积结果；
第五确定单元，用于根据乘积结果确定农业无人机当前的作业流量。
根据本公开的实施例，农业无人机的作业控制装置600还包括：控制模块，用于根据实际物料投放量控制农业无人机作业。
图7示意性示出了根据本公开实施例的农业无人机的框图。
如图7所示，农业无人机700包括：动力装置710、喷洒系统720和飞行控制器730。
动力装置710，用于为农业无人机提供飞行动力。动力装置可以包括推进单元，用于产生推进农业无人机的升力使得农业无人机能够在三维空间内飞行。
喷洒系统720，用于执行农业无人机的作业。喷洒系统可以包括用于装载农药的容器、用于喷洒的喷嘴以及配套的连接件等。
飞行控制器730，与动力装置和喷洒系统电连接，用于控制动力装置和喷洒系统；其中，飞行控制器还用于执行上述的农业无人机的作业控制方法。
飞行控制器730可以包括一个或多个存储器存储设备，其包括含有用于执行一个或多个动作的代码、逻辑或指令的非暂时性计算机可读介质。 飞行控制器730可以包括能够执行非暂时性计算机可读介质中的代码的一个或多个处理器。
根据本公开的实施例，农业无人机700可以具有延伸的一个或多个臂或分支。臂可以从本体横向地或径向地延伸。臂可以相对于本体是可移动的，或可以相对于本体是固定的。这些臂可以支撑一个或多个推进单元。例如，每个臂可以支撑一个、两个或更多个推进单元。
根据本公开的实施例，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量，保证了处方图上作业区域栅格内的用量的精确性，避免了由于当前栅格与邻近栅格的用量相差较大而导致的变量作业漏喷或过喷的问题，有效提升了变量作业的精度，保证了变量作业的作业效果。
根据本公开的实施例，提供了一种电子设备，包括：处理器；存储器，用于存储一个或多个程序，其中，当一个或多个程序被处理器执行时，使得处理器执行农业无人机的作业控制方法。
具体地，处理器例如可以包括通用微处理器、指令集处理器和/或相关芯片组和/或专用微处理器(例如，专用集成电路(ASIC))，等等。处理器还可以包括用于缓存用途的板载存储器。处理器可以是用于执行根据本公开实施例的方法流程的不同动作的单一处理单元或者是多个处理单元。
根据本公开的实施例，提供了一种可读存储介质，其上存储有可执行指令，该指令被处理器执行时使处理器执行农业无人机的作业控制方法。
该可读存储介质可以是上述实施例中描述的设备/装置/系统中所包含的；也可以是单独存在，而未装配入该设备/装置/系统中。上述可读存储介质承载有一个或者多个程序，当上述一个或者多个程序被执行时，实现根据本公开实施例的方法。
根据本公开的实施例，提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时使处理器执行农业无人机的作业控制方法。
根据本公开的实施例，根据多个目标子区域中每个目标子区域各自对应的预设物料投放量，确定与农业无人机当前的位置信息相匹配的实际物料投放量，保证了处方图上作业区域栅格内的用量的精确性，避免了由于当前栅格与邻近栅格的用量相差较大而导致的变量作业漏喷或过喷的问 题，有效提升了变量作业的精度，保证了变量作业的作业效果。
根据本公开的实施例，可读存储介质可以是非易失性的可读存储介质，例如可以包括但不限于：便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；在不冲突的情况下，本公开实施例中的特征可以任意组合；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。
Claims (32)
- 一种农业无人机的作业控制方法，包括：获取所述农业无人机当前的位置信息；根据所述农业无人机当前的位置信息确定所述农业无人机的作业覆盖区域；从所述农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个所述目标子区域具有对应的预设物料投放量；以及根据多个所述目标子区域中每个所述目标子区域各自对应的预设物料投放量，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量。
- 根据权利要求1所述的方法，其中，根据多个所述目标子区域中每个所述目标子区域各自对应的预设物料投放量，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量包括：确定每个所述目标子区域的权重；以及根据每个所述目标子区域各自对应的预设物料投放量和权重，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量。
- 根据权利要求2所述的方法，其中，根据每个所述目标子区域各自对应的预设物料投放量和权重，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量包括：将每个所述目标子区域各自对应的预设物料投放量与每个所述目标子区域各自对应的权重进行加权求和，得到所述实际物料投放量。
- 根据权利要求2所述的方法，其中，确定每个所述目标子区域的权重包括：确定每个所述目标子区域和所述农业无人机当前的位置之间的距离，得到每个所述目标子区域各自对应的计算距离；以及根据每个所述目标子区域各自对应的计算距离，确定每个所述目标子区域的权重。
- 根据权利要求4所述的方法，其中，根据每个所述目标子区域各自对应的计算距离，确定每个所述目标子区域的权重包括：将每个所述目标子区域各自对应的计算距离按照距离大小进行排序，得到排序结果；以及按照所述排序结果确定每个所述目标子区域的权重。
- 根据权利要求5所述的方法，其中，按照所述排序结果确定每个所述目标子区域的权重包括：在按照从小到大进行排序后得到的排序结果，为每个所述目标子区域配置权重的情况下，将排序在第i位的目标子区域的权重配置为大于排序在第i+1位的目标子区域的权重。
- 根据权利要求1所述的方法，其中，根据多个所述目标子区域中每个所述目标子区域各自对应的预设物料投放量，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量包括：将每个所述目标子区域各自对应的预设物料投放量中，预设物料投放量最大和/或预设物料投放量最小的预设物料投放量进行滤除；计算剩余的所述目标子区域各自对应的预设物料投放量的平均值；将所述平均值确定为所述实际物料投放量。
- 根据权利要求1所述的方法，其中，根据多个所述目标子区域中每个所述目标子区域各自对应的预设物料投放量，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量包括：根据每个所述目标子区域各自对应的预设物料投放量，计算所述预设物料投放量的平均值；将所述平均值确定为所述实际物料投放量。
- 根据权利要求1所述的方法，其中，从所述农业无人机的作业覆盖区域中确定多个目标子区域包括：以所述农业无人机当前的位置为中心，在所述农业无人机的作业覆盖区域中选择与所述中心间隔一个或多个预设距离的目标子区域。
- 根据权利要求9所述的方法，还包括：根据所述农业无人机的喷幅确定所述预设距离。
- 根据权利要求1所述的方法，还包括：获取所述农业无人机当前的作业参数；根据所述实际物料投放量和所述农业无人机当前的作业参数，确定所述农业无人机当前的作业流量。
- 根据权利要求11所述的方法，所述作业参数包括以下一种或多种：作业飞行速度、作业时长、作业间距、农业无人机的喷幅宽度、农业无人机的飞行高度、喷头流速。
- 根据权利要求12所述的方法，其中，根据所述实际物料投放量和所述农业无人机当前的作业参数，确定所述农业无人机当前的作业流量包括：将所述实际物料投放量、所述作业飞行速度和所述作业间距相乘，得到乘积结果；根据所述乘积结果确定所述农业无人机当前的作业流量。
- 根据权利要求1所述的方法，还包括：根据所述实际物料投放量控制所述农业无人机作业。
- 一种农业无人机的作业控制装置，包括：第一获取模块，用于获取所述农业无人机当前的位置信息；第一确定模块，用于根据所述农业无人机当前的位置信息确定所述农业无人机的作业覆盖区域；第二确定模块，用于从所述农业无人机的作业覆盖区域中确定多个目标子区域，其中，每个所述目标子区域具有对应的预设物料投放量；以及第三确定模块，用于根据多个所述目标子区域中每个所述目标子区域各自对应的预设物料投放量，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量。
- 根据权利要求15所述的装置，其中，所述第三确定模块包括：第一确定单元，用于确定每个所述目标子区域的权重；以及第二确定单元，用于根据每个所述目标子区域各自对应的预设物料投放量和权重，确定与所述农业无人机当前的位置信息相匹配的实际物料投放量。
- 根据权利要求16所述的装置，其中，第二确定单元用于：将每个所述目标子区域各自对应的预设物料投放量与每个所述目标子区域各自对应的权重进行加权求和，得到所述实际物料投放量。
- 根据权利要求16所述的装置，其中，所述第一确定单元包括：第一确定子单元，用于确定每个所述目标子区域和所述农业无人机当前的位置之间的距离，得到每个所述目标子区域各自对应的计算距离；以及第二确定子单元，用于根据每个所述目标子区域各自对应的计算距离，确定每个所述目标子区域的权重。
- 根据权利要求18所述的装置，其中，所述第二确定子单元包括：排序子模块，用于将每个所述目标子区域各自对应的计算距离按照距离大小进行排序，得到排序结果；以及确定子模块，用于按照所述排序结果确定每个所述目标子区域的权重。
- 根据权利要求19所述的装置，其中，所述确定子模块用于：在按照从小到大进行排序后得到的排序结果，为每个所述目标子区域配置权重的情况下，将排序在第i位的目标子区域的权重配置为大于排序在第i+1位的目标子区域的权重。
- 根据权利要求15所述的装置，其中，所述第三确定模块包括：过滤单元，用于将每个所述目标子区域各自对应的预设物料投放量中，预设物料投放量最大和/或预设物料投放量最小的预设物料投放量进行滤除；第一计算单元，用于计算剩余的所述目标子区域各自对应的预设物料投放量的平均值；第三确定单元，用于将所述平均值确定为所述实际物料投放量。
- 根据权利要求15所述的装置，其中，所述第三确定模块包括：第二计算单元，用于根据每个所述目标子区域各自对应的预设物料投放量，计算所述预设物料投放量的平均值；第四确定单元，用于将所述平均值确定为所述实际物料投放量。
- 根据权利要求15所述的装置，其中，所述第二确定模块用于：以所述农业无人机当前的位置为中心，在所述农业无人机的作业覆盖区域中选择与所述中心间隔一个或多个预设距离的目标子区域。
- 根据权利要求9所述的装置，还包括：第四确定模块，用于根据所述农业无人机的喷幅确定所述预设距离。
- 根据权利要求15所述的装置，还包括：第二获取模块，用于获取所述农业无人机当前的作业参数；第五确定模块，用于根据所述实际物料投放量和所述农业无人机当前的作业参数，确定所述农业无人机当前的作业流量。
- 根据权利要求25所述的装置，所述作业参数包括以下一种或多种：作业飞行速度、作业时长、作业间距、农业无人机的喷幅宽度、农业无人机的飞行高度、喷头流速。
- 根据权利要求26所述的装置，其中，所述第五确定模块包括：第三计算单元，用于将所述实际物料投放量、所述作业飞行速度和所述作业间距相乘，得到乘积结果；第五确定单元，用于根据所述乘积结果确定所述农业无人机当前的作业流量。
- 根据权利要求15所述的装置，还包括：控制模块，用于根据所述实际物料投放量控制所述农业无人机作业。
- 一种农业无人机，包括：动力装置，用于为所述农业无人机提供飞行动力；喷洒系统，用于执行所述农业植保无人机的作业；飞行控制器，与所述动力装置和所述喷洒系统电连接，用于控制所述动力装置和所述喷洒系统；其中，所述飞行控制器还用于执行权利要求1至14中任一项所述的方法。
- 一种电子设备，包括：处理器；存储器，用于存储一个或多个程序，其中，当所述一个或多个程序被所述处理器执行时，使得所述处理器执行权利要求1至14中任一项所述的方法。
- 一种可读存储介质，其上存储有可执行指令，该指令被处理器执行时使处理器执行权利要求1至14中任一项所述的方法。
- 一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时使处理器执行权利要求1至14中任一项所述的方法。
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