WO2022141221A1

WO2022141221A1 - Spraying operation control method and apparatus, agricultural unmanned aerial vehicle, and storage medium

Info

Publication number: WO2022141221A1
Application number: PCT/CN2020/141498
Authority: WO
Inventors: 王璐; 贾向华; 闫光
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-07
Also published as: CN114616530A

Abstract

A spraying operation control method and apparatus, an agricultural unmanned aerial vehicle (10), and a storage medium. The method may comprise: according to influencing factors of a spraying operation, determining first position offset information of a spraying object when an agricultural unmanned aerial vehicle (10) executes the spraying operation, wherein the influencing factors comprise an execution delay of the spraying operation and/or a landing delay of the spraying object; according to current position information and the first position offset information of the agricultural unmanned aerial vehicle (10), determining actual landing position information of the spraying object; and on the basis of the actual landing position information, determining spraying operation parameters of the agricultural unmanned aerial vehicle (10), and on the basis of the spraying operation parameters, performing the spraying operation.

Description

Spraying operation control method, device, agricultural unmanned aerial vehicle and storage medium

technical field

The present application relates to the field of aviation technology, and in particular, to a spraying operation control method, device, agricultural unmanned aerial vehicle and storage medium.

Background technique

At present, agricultural unmanned aerial vehicles are often used as operating tools in the agricultural field. Since the operation requirements of different positions in the operation area may be different, correspondingly, the operation parameters required for the operation are also different. For example, taking pesticide spraying on crops as an example, some sub-regions may require more spraying, while some sub-regions may require less spraying. Therefore, it is often necessary to carry out spraying operations according to different spraying operation parameters for different sub-areas.

When performing spraying operations in the prior art, the spraying operation parameters corresponding to the current position are often determined directly according to the current position information of the agricultural unmanned aerial vehicle, and then the spraying operation is performed based on the spraying operation parameters. This method has larger spraying errors and lower spraying accuracy.

SUMMARY OF THE INVENTION

The present application provides a spraying operation control method, a device, an agricultural unmanned aerial vehicle and a storage medium, which can improve the spraying operation accuracy.

In a first aspect, an embodiment of the present application provides a spraying operation control method, which is applied to an agricultural unmanned aerial vehicle, and the method includes:

Determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the execution delay of the spraying operation and/or the landing delay;

determining the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information;

Based on the actual landing position information, the spraying operation parameters of the agricultural unmanned aerial vehicle are determined, and the spraying operation is performed based on the spraying operation parameters.

In a second aspect, an embodiment of the present application provides a spraying operation control device, which is applied to an agricultural unmanned aerial vehicle. The device includes: a memory and a processor,

the memory for storing program codes;

The processor calls the program code to perform the following operations:

In a third aspect, an embodiment of the present application provides an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes the spraying operation control device described in the second aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to execute the above spraying operation control method.

In a fifth aspect, an embodiment of the present application provides a computer program product containing instructions, when the instructions are executed on a computer, the computer is made to execute the above spraying operation control method.

In the embodiment of the present application, the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation can be determined according to the influence factor of the spraying operation; the influencing factor includes the execution delay of the spraying operation and/or the spraying object. Landing delay; according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information, determine the actual landing position information of the spraying object; based on the actual landing position information, determine the spraying operation parameters of the agricultural unmanned aerial vehicle, and based on the spraying operation parameters to perform the spraying job. In this way, by synthesizing the influencing factors of the spraying operation, the actual landing position information of the spraying object is determined, and the spraying operation parameters are determined according to the actual landing position information, which can make the determined spraying operation parameters more accurate, thereby reducing the spraying error to a certain extent and improving the Precision of spraying operation.

Description of drawings

1 is a schematic diagram of a spraying scene provided by an embodiment of the present application;

2 is a flow chart of steps of a spraying operation control method provided by an embodiment of the present application;

3 is a schematic diagram of a determination process provided by an embodiment of the present application;

4 is a block diagram of a spraying operation control device provided by an embodiment of the present application;

FIG. 5 is a block diagram of a computing processing device according to an embodiment of the present application;

FIG. 6 is a block diagram of a portable or fixed storage unit according to an embodiment of the present application.

Detailed ways

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

In order to facilitate understanding of the present application, the scenarios involved in the embodiments of the present application are first described below. FIG. 1 is a schematic diagram of a spraying scene provided by an embodiment of the present application. The application scenario may include: the agricultural unmanned aerial vehicle 10 and the operation area 20 of the spraying operation. The work area 20 may include various sub-areas divided based on the dotted lines in FIG. 1 .

Since the growth conditions of the working objects in the working area 20 may be different, the spraying operation parameters required for different positions in the working area 20 may be different. As an example, taking the spraying operation parameter as the spraying flow rate, the user sets the corresponding mu dosage for each sub-area according to the actual needs, wherein, the sub-area a needs a mu-consumption that is greater than the sub-area b needs as an example. When the agricultural unmanned aerial vehicle 10 flies to point A in the sub-area a, the spraying operation parameters are often directly determined according to the current position information of the agricultural unmanned aerial vehicle in the existing method, wherein the current position information may be the global Positioning System (Global Positioning System, GPS) coordinates. Correspondingly, at this time, the spraying flow rate will be determined directly according to the required amount per mu of sub-area a, and the spraying operation will be performed. However, due to the existence of influencing factors during the spraying operation, there will be a deviation between the actual landing position of the spraying object and the current position of the agricultural UAV. For example, in this scene, the spray object may actually land at point B in sub-region b. Since the amount per mu required by sub-area a is greater than that required by sub-area b, that is, the spraying flow rates required at point A and point B are different, the spraying operation performed in the existing way cannot meet the needs of sub-area b.

Further, in the spraying operation control method provided in the embodiment of the present application, the first position offset information of the spraying object is determined according to the influence factor of the spraying operation, and the actual landing position of the spraying object is determined based on the first position offset information. Finally, based on the actual landing position information, the spraying operation parameters are determined, and the spraying operation is performed based on the spraying operation parameters. That is, the spraying flow rate is determined according to the required amount per mu of point B in sub-area b, and the spraying operation is performed. In this way, the adopted spraying operation parameters can be made more accurate, thereby reducing the spraying error and improving the spraying operation accuracy.

The spraying operation control method will be described in detail below.

FIG. 2 is a flowchart of a spraying operation control method provided by an embodiment of the present application. As shown in FIG. 2 , the method may include:

101. Determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the execution delay of the spraying operation and/or the spraying The object's landing delay.

In the embodiment of the present application, the influence factor may be a factor that causes the actual landing position of the spraying object to be inconsistent with the current position of the agricultural unmanned aerial vehicle, and the specific content of the influence factor may be set according to actual needs. The first position offset information may represent the deviation between the actual landing position and the current position caused by the influence factor.

Further, when the spraying operation is performed, it takes a certain amount of time for the agricultural unmanned aerial vehicle to determine the spraying operation parameters according to the current position information to executing the spraying operation based on the spraying operation parameters, that is, there is a delay in the execution of the spraying operation. The actual landing position is inconsistent with the current position. At the same time, after the spraying operation is performed, it takes a certain amount of time for the spraying object to land from being sprayed, that is, the spraying object has a delay in landing, which will also cause the actual landing position of the spraying object to be inconsistent with the current position. The spraying objects may be pesticides, fertilizers, seeds of crops, and the like. For example, in this embodiment of the present application, the execution delay of the spraying operation and/or the landing delay of the spraying object may be used as the influence factor, so that to a certain extent, it can be ensured that the first position offset information can be accurately determined based on the influence factor.

102. Determine the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information.

In this embodiment of the present application, the current position information may be adjusted by using the first position offset information to obtain the actual landing position information. For example, the current position may be shifted by the position corresponding to the first position offset as the actual landing position. Wherein, the position information can be the coordinates of the position, the offset information can be the offset coordinates, and the first position offset information can be used to represent the offset of the coordinates of the current position relative to the coordinates of the actual landing position.

103. Determine spraying operation parameters of the agricultural unmanned aerial vehicle based on the actual landing position information, and execute the spraying operation based on the spraying operation parameters.

Since the actual landing position information can more accurately represent the actual landing position of the spraying object, more accurate spraying operation parameters can be determined based on the actual landing position information, thereby improving the accuracy of the spraying operation. The spraying operation parameters may be set according to actual requirements. For example, the spraying operation parameters may include spraying flow rate, flight distance, and the like.

To sum up, the spraying operation control method provided by the embodiment of the present application can determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the spraying operation The actual landing position information of the spraying object is determined according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information; based on the actual landing position information, the agricultural unmanned aerial vehicle is determined. the spraying job parameters, and execute the spraying job based on the spraying job parameters. By synthesizing the influencing factors of the spraying operation, the actual landing position information of the spraying object is determined, and the spraying operation parameters are determined according to the actual landing position information, which can make the determined spraying operation parameters more accurate, thereby reducing the spraying error to a certain extent and improving the spraying operation. precision.

Optionally, the above-mentioned determining the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation may include:

1011. Acquire a first delay duration corresponding to the execution delay, and/or acquire a second delay duration corresponding to a landing delay of the spraying object.

In 1011, the first delay time period may be used to characterize the time period required by the agricultural UAV from determining the spraying operation parameters to performing the spraying operation. Specifically, after determining the spraying operation parameters, the agricultural unmanned aerial vehicle often sends spraying instructions to the spraying system of the agricultural unmanned aerial vehicle. After the spraying system receives the spraying instruction, it will respond to the spraying instruction and carry out the spraying operation according to the spraying operation parameters. The execution delay is often determined by the response accuracy of the agricultural UAV, that is, the first delay time of the agricultural UAV is often fixed. Therefore, in the embodiment of the present application, the delay duration of the execution delay of the agricultural unmanned aerial vehicle may be tested in advance and the delay duration is stored.

Correspondingly, when acquiring the first delay duration corresponding to the execution delay, the pre-stored delay duration can be read as the first delay duration. In this way, by pre-storing the delay time, the first delay time can be obtained by directly reading the pre-stored delay time, thereby ensuring the efficiency of determining the first delay time and improving the overall operation efficiency. Further, when acquiring the second delay duration, the second delay duration may be detected in real time, or the pre-stored second delay duration may be read.

1012. Determine the first position offset information according to the current flight parameters, the first delay time and/or the second delay time of the agricultural UAV; the current flight parameters include flight speed and/or flight direction.

Since the flight direction of the agricultural unmanned aerial vehicle will affect the offset direction of the spraying object, and the flying speed of the agricultural unmanned aerial vehicle will affect the specific offset of the spraying object, the current flight parameters can be further obtained, combined with the current flight parameters and delay time. , and determine the first position offset information to ensure the accuracy of the first position offset information.

In this embodiment of the present application, by acquiring the first delay duration corresponding to the execution delay, and/or acquiring the second delay duration corresponding to the landing delay, and combining the current flight parameters, the first delay duration and/or the second delay duration, determine the first delay duration. A position offset information. Since the first position offset information has a strong correlation with the first delay duration, the second delay duration and the current flight parameters, the first position offset is determined by combining the first delay duration, the second delay duration and the current flight parameters. The displacement information can ensure the accuracy of the first position offset information to a certain extent.

Optionally, in an implementation manner, the above-mentioned acquiring the second delay time length corresponding to the landing delay of the spraying object may include:

10111. Obtain the current altitude of the agricultural unmanned aerial vehicle and the falling acceleration when the spraying object falls.

In 10111, the current altitude can be detected in real time by sensors in the agricultural UAV, for example, a series of waves can be sent to the ground through an ultrasonic sensor, and then the waves reflected from the ground can be measured to determine the current altitude. Alternatively, use laser technology to measure the current altitude. Of course, other detection methods may also be used, which are not limited in this embodiment of the present application. Further, the falling acceleration of the spraying object can be determined in combination with the altitude of the area where the operation area is located.

10112. Determine, according to the current height and the falling acceleration, a second delay time period corresponding to the landing delay of the spraying object.

For example, the second delay duration may be determined based on a preset calculation formula. The preset calculation formula can be expressed as:

Among them, ref_h represents the current height, acc represents the falling acceleration, and t2 represents the second delay time.

It should be noted that in practical application scenarios, the flight altitude of agricultural UAVs during operation is often preset, so the altitude parameters in the set parameters can be directly read as the current altitude to improve the efficiency of determining the current altitude. . Further, in another implementation manner, the preset acceleration can also be used as the falling acceleration, and according to the preset height and falling acceleration, before the agricultural unmanned aerial vehicle starts to operate, the second calculation formula is calculated based on the above preset calculation formula. delay time, and store the calculated second delay time in the agricultural unmanned aerial vehicle. In this way, after the agricultural unmanned aerial vehicle starts to operate, it does not need to calculate every time, and the second delay time can be obtained by direct reading, thereby improving the efficiency of obtaining the second delay time.

In the embodiment of the present application, by obtaining the current height of the agricultural unmanned aerial vehicle in real time and obtaining the falling acceleration of the spraying object when it falls, the second delay time corresponding to the landing delay of the spraying object is calculated in real time based on the current height and the falling acceleration. In this way, when the actual flight altitude of the agricultural unmanned aerial vehicle changes during the flight, the determined second delay time can be more adapted to the current situation to a certain extent, thereby ensuring the accuracy of the second delay time and ensuring The accuracy of the first position offset information is subsequently determined based on the second delay duration.

Optionally, obtaining the falling acceleration when the spraying object falls may include:

10111a: Acquire the preset acceleration corresponding to the operation area of the spraying operation.

With the change of latitude, the gravitational acceleration of the object will change accordingly, and the latitude of different regions is different. Therefore, in the embodiment of the present application, the gravitational acceleration corresponding to the area to which the operation area belongs may be stored in the agricultural unmanned aerial vehicle in advance before the agricultural unmanned aerial vehicle starts to operate. Correspondingly, the pre-stored gravitational acceleration can be directly read to obtain the preset acceleration, so as to ensure the acquisition efficiency. Of course, the gravitational acceleration corresponding to different regions may also be acquired and stored in advance. Correspondingly, the gravitational acceleration corresponding to the region to which the work area belongs can be searched from the pre-stored gravitational acceleration, and the preset acceleration can be obtained, which is not limited in this embodiment of the present application.

10111b: Determine the falling acceleration according to the preset acceleration.

For example, the preset acceleration may be directly determined as the falling acceleration. Or, further combining other factors, the falling acceleration is calculated on the basis of the preset acceleration.

In the embodiment of the present application, the preset acceleration is preset, and by directly reading the preset acceleration, the falling acceleration can be determined based on the preset acceleration, thereby ensuring the efficiency of determining the falling acceleration to a certain extent.

Optionally, the above-mentioned determining of the falling acceleration according to the preset acceleration may include:

(1): Obtain the airflow value of the downwash airflow of the agricultural UAV.

Among them, the downwash flow can also be called blade downwash flow and rotor downwash flow. The downwash airflow refers to the rotation of the rotor of the agricultural unmanned aerial vehicle, which causes the airflow to flow from the top of the rotor to the bottom of the rotor, so that the air flows in the opposite direction of the pulling force, that is, to the direction of the ground. Further, when acquiring the airflow value of the downwash airflow, the current airflow value can be detected based on the airflow detection unit set in the agricultural unmanned aerial vehicle.

(2): Determine an acceleration increment value according to the airflow value; the acceleration increment value is positively correlated with the airflow value.

Due to the presence of the downwash airflow, the acceleration of the sprayed object when it falls to the ground will be increased, and the larger the airflow value, the faster the acceleration will be. Therefore, in this step, the acceleration increment value can be determined in a manner that the acceleration increment value is positively correlated with the airflow value. For example, a corresponding relationship between the airflow value and the acceleration increment value may be preset, and then based on the corresponding relationship, the acceleration increment value corresponding to the current airflow value is searched. Alternatively, a calculation function may also be established in advance, and the dependent variable of the calculation function is positively correlated with the independent variable, wherein the dependent variable is the acceleration increment value, and the independent variable is the airflow value. Correspondingly, the current airflow value can be input into the calculation function, and the output of the calculation function can be used as the current acceleration increment value.

(3): Determine the fall acceleration as the sum of the acceleration increment value and the preset acceleration.

By way of example, assuming that the preset acceleration is g and the incremental acceleration value is Δg, then the falling acceleration acc=g+Δg.

In the embodiment of the present application, by obtaining the airflow value of the downwash airflow of the agricultural unmanned aerial vehicle, the acceleration increment value is determined according to the airflow value, and the sum of the acceleration increment value and the preset acceleration is determined as the falling acceleration. Since the influence of external factors on the falling acceleration is more fully considered, the determined falling acceleration can be made more accurate, and the accuracy of the falling acceleration can be improved.

Optionally, the above-mentioned determination of the first position offset information according to the current flight parameters of the agricultural UAV, the first delay duration and/or the second delay duration may include:

10121. Calculate the sum of the first delay duration and the second delay duration to obtain a target delay duration.

Exemplarily, assuming that the first delay duration is t1 and the second delay duration is t2, then the target delay duration (t1+t2) can be obtained.

10122. Determine a first offset distance according to the product of the flight speed and the target delay duration.

In 10122, in the case of no wind, the product between the flight speed and the target delay duration can be directly used as the first offset distance. In the case of wind, the first offset distance can be further calculated according to the product of the flight speed and the target delay time in combination with the influence of the ambient wind, so as to make the first offset distance more accurate.

10123. Use the flying direction as a first offset direction, and determine a first position offset of the spraying object relative to the current position information according to the first offset distance and the first offset direction information.

In this embodiment of the present application, the position coordinates of the current position of the agricultural unmanned aerial vehicle may be coordinates in the first coordinate system. Further, the current position can be used as the origin of the second coordinate system to determine the position coordinates corresponding to the point moving the first offset distance in the first offset direction in the second coordinate system, and then the first position offset can be obtained. information. The first coordinate system may be selected according to actual requirements, and the X axis and the Y axis of the second coordinate system are respectively parallel to the X axis and the Y axis of the first coordinate system. For example, the first offset distance in the first offset direction may be decomposed into values on the X axis and the Y axis of the second coordinate system to obtain corresponding position coordinates.

In the embodiment of the present application, the target delay duration is obtained by combining the first delay duration and the second delay duration at the same time, the first offset distance is determined according to the product between the flight speed and the target delay duration, and the flight direction is used as the first offset and determine the first position offset information of the spraying object relative to the current position information according to the first offset distance and the first offset direction. In this way, the first position offset information can more accurately represent the real offset, thereby improving the accuracy of the subsequently determined actual landing position.

Optionally, in this embodiment of the present application, the following operations may be further performed:

A. Obtain the current wind speed and current wind direction in the operating environment.

Optionally, when a wind speed sensor and a wind direction sensor are provided in the agricultural unmanned aerial vehicle, the current wind speed detected by the wind speed sensor and the current wind direction detected by the wind direction sensor can be read. In this way, by setting the wind speed sensor and the wind direction sensor in the agricultural unmanned aerial vehicle, the current wind speed and the current wind direction can be easily obtained, thereby improving the overall operation efficiency.

Further, it is also possible to obtain the current attitude angle of the agricultural unmanned aerial vehicle, and calculate the current wind speed and the current wind direction according to the attitude angle and the flight speed of the agricultural unmanned aerial vehicle. In this way, the current wind speed and the current wind direction can be obtained without setting the wind speed sensor and the wind direction sensor in the agricultural unmanned aerial vehicle, thereby saving the hardware implementation cost. In the specific calculation, the speed observation model of the agricultural UAV can be established according to the current attitude angle, speed and acceleration of the agricultural UAV to obtain the speed observation value, and then the wind force observation value can be obtained according to the speed observation value. Next, according to the observed value of the wind, the current wind speed is calculated. Further, the current wind direction can be determined according to the current wind speed and the yaw angle of the agricultural unmanned aerial vehicle. Of course, other methods may also be used to calculate the current wind speed and the current wind direction, which are not limited in this embodiment of the present application.

B. Determine the second position offset information of the spraying object according to the current wind speed and the current wind direction.

By way of example, the product between the current wind speed and the second delay duration can be calculated first to obtain the second offset distance, and then the current wind direction is used as the second offset direction, and according to the second offset distance and the second offset direction, The second position offset information of the spraying object relative to the current position information is determined. For example, the position coordinates corresponding to the point moving in the second offset direction by the second offset distance in the second coordinate system can be determined, and then the second position offset amount information can be obtained. For example, the second offset distance in the second offset direction may be decomposed into values on the X axis and the Y axis of the second coordinate system to obtain corresponding position coordinates. In this way, the second offset distance is obtained by calculating the product between the current wind speed and the second delay time, and the current wind direction is used as the second offset direction. The second position offset information of the current position information can more accurately quantify the influence of the environmental wind on the landing position, and then determine more accurate second position offset information.

Further, in this embodiment of the present application, the current position information may be the position coordinates of the current position, the first position offset information may be the first offset coordinate amount, and the second position offset information may be the second offset coordinate amount. Correspondingly, in an implementation manner, determining the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information may include: calculating the The sum of the position coordinates, the first offset coordinate, and the second offset coordinate is used as the actual landing position information. By way of example, FIG. 3 is a schematic diagram of a determination process provided by an embodiment of the present application. As shown in FIG. 3 , in this embodiment of the present application, the first delay time t1, the second delay time length t2 and other information may be used to determine the first delay time. A position offset information, and then (x0, y0) is calculated. Further, (x1, y1) can be calculated in combination with the second position offset information estimated based on the wind speed and direction. Among them, (x0, y0) represents the coordinates corresponding to the sum of the position coordinates of the current position and the first offset coordinates, which can be used to represent the landing position of the spraying object without considering the influence of environmental wind. Further, the final coordinates (x1, y1) obtained by adding the second offset coordinate amount can characterize the landing position of the spraying object in consideration of the influence of the environmental wind.

In the embodiment of the present application, by acquiring the current wind speed and the current wind direction in the working environment, according to the current wind speed and the current wind direction, the second position offset information is determined, and further based on the current position information, the first position offset information and the The second position offset information determines actual landing position information. The influence of the environmental wind on the landing position can be more fully taken into account, thereby improving the accuracy of the determined actual landing position information.

Optionally, in another implementation manner of the embodiment of the present application, it may further include:

C. Obtain the current wind speed and current wind direction in the operating environment.

For the specific implementation manner in C, reference may be made to the foregoing related descriptions, which will not be repeated here.

D. Determine, according to the current wind speed and the current wind direction, the duration of wind disturbance for the spraying object.

In D, the first offset vector can be generated according to the first offset distance and the first offset direction, and the second offset vector can be generated according to the second offset distance and the current wind direction; the second offset distance is the current wind direction. The product of the wind speed and the second delay period. The wind disturbance duration is determined according to the first offset vector, the second offset vector and the current wind speed. Specifically, the first offset direction may be used as the first vector direction, and the first offset distance may be used as the first vector size to obtain the first offset vector. Taking the second offset direction as the second vector direction and the second offset distance as the second vector size, the second offset vector is obtained. Next, the ratio of the sum of the first offset vector and the first offset vector to the current wind speed is calculated, so as to obtain the wind interference duration.

In the embodiment of the present application, the first offset vector is generated according to the first offset distance and the first offset direction; the second offset vector is generated according to the second offset distance and the current wind direction; the second offset distance is the current The product between the wind speed and the second delay duration; the wind disturbance duration is determined according to the first offset vector, the second offset vector, and the current wind speed. In this way, based on the current wind speed and current wind direction, the impact of the environmental wind on the landing position is quantified as the wind interference duration, which can facilitate the consideration of the influence of the environmental wind based on the wind interference duration in the process of determining the first offset distance.

Correspondingly, the above-mentioned determination of the first offset distance according to the product between the flight speed and the target delay duration can be achieved by the following operations:

10122a. Calculate a first product between the flight speed and the target delay duration, and calculate a second product between the flight speed and the wind disturbance duration.

10122b. Determine the sum of the first product and the second product as the first offset distance.

For example, assuming that the wind disturbance duration is t3 and the flight speed is v, the first product may be v×(t1+t2), and the second product may be v×t3. Further, v×(t1+t2)+v×t3 may be used as the first offset distance.

In the embodiment of the present application, by acquiring the current wind speed and current wind direction in the working environment, and according to the current wind speed and current wind direction, determine the duration of wind interference suffered by the spraying object, and further combine the duration of wind interference to determine the first offset distance. In this way, the influence of the ambient wind on the landing position can be more fully taken into account, the accuracy of the determined first offset distance can be improved, and the accuracy of the first position offset information can be further improved.

Correspondingly, since the influence of the ambient wind on the landing position is taken into account in the calculation process of the first offset distance, the sum of the position coordinates of the current position and the first offset coordinates can be directly calculated as the actual landing position information. . In the embodiment of the present application, since the influence of the environmental wind is further taken into account, the first offset coordinate can more accurately represent the real offset. In this way, by calculating the sum of the position coordinate of the current position and the first offset coordinate , as the actual landing position information, to ensure the accuracy of the actual landing position information.

Further, taking the spraying operation parameter as the spraying flow rate as an example, when performing variable spraying, the amount per mu corresponding to each sub-area can be set in the form of a plot prescription map. In the embodiment of the present application, after the actual landing position information is determined, the amount per mu corresponding to the actual landing position can be determined according to the preset prescription map of the plot, and then the spraying flow rate is determined based on the amount per mu, and the spraying operation is performed based on the spraying flow rate . Specifically, the spray flow rate can be calculated according to the amount per mu, combined with the information such as the flight speed and the preset operation spacing.

In an existing method, the user often sets the grid area of the plot prescription map to be thinner, and sets the color of the grid in the plot prescription map to be more diverse, so as to improve the spraying operation of agricultural unmanned aerial vehicles. precision. In this way, the user operation is more complicated and the effect is poor. In the embodiment of the present application, no user operation is required. Before spraying, the actual landing position is predicted by automatically and comprehensively executing influencing factors such as delay, landing delay, ambient wind, and downwash airflow, and the spraying operation based on the actual landing position can be performed to a greater extent. to improve the accuracy of spraying operations.

FIG. 4 is a block diagram of a spraying operation control device provided by an embodiment of the present application. The device may be applied to an agricultural unmanned aerial vehicle. As shown in FIG. 4 , the device may include: a memory 201 and a processor 202 .

The memory 201 is used to store program codes;

The processor 202 calls the program code to perform the following operations:

To sum up, the spraying operation control device provided by the embodiment of the present application can determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the spraying operation The actual landing position information of the spraying object is determined according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information; based on the actual landing position information, the agricultural unmanned aerial vehicle is determined. the spraying job parameters, and execute the spraying job based on the spraying job parameters. In this way, by synthesizing the influencing factors of the spraying operation, the actual landing position information of the spraying object is determined, and the spraying operation parameters are determined according to the actual landing position information, which can make the determined spraying operation parameters more accurate, thereby reducing the spraying error to a certain extent and improving the Precision of spraying operation.

Optionally, the processor 202 is specifically configured to:

obtaining a first delay time length corresponding to the execution delay, and/or obtaining a second delay time length corresponding to the landing delay of the spraying object;

The first position offset information is determined according to the current flight parameters, the first delay time and/or the second delay time of the agricultural UAV; the current flight parameters include flight speed and flight direction .

Optionally, the processor 202 is further specifically configured to:

obtaining the current altitude of the agricultural unmanned aerial vehicle and the falling acceleration when the spraying object falls;

According to the current height and the falling acceleration, a second delay time period corresponding to the landing delay of the spraying object is determined.

Optionally, the processor 202 is further specifically configured to:

obtaining the preset acceleration corresponding to the operation area of the spraying operation;

The falling acceleration is determined according to the preset acceleration.

Optionally, the processor 202 is further specifically configured to:

obtaining the airflow value of the downwash airflow of the agricultural unmanned aerial vehicle;

Determine an acceleration increment value according to the airflow value; the acceleration increment value is positively correlated with the airflow value;

The sum of the acceleration increment value and the preset acceleration is determined as the falling acceleration.

Optionally, the processor 202 is further specifically configured to:

Calculate the sum of the first delay duration and the second delay duration to obtain a target delay duration;

determining a first offset distance according to the product of the flight speed and the target delay duration;

The flying direction is taken as the first offset direction, and first position offset information of the spraying object relative to the current position information is determined according to the first offset distance and the first offset direction.

Optionally, the processor 202 is further specifically configured to:

Obtain the current wind speed and current wind direction in the working environment;

determining the second position offset information of the spraying object according to the current wind speed and the current wind direction;

The current position information is the position coordinates of the current position, the first position offset information is a first offset coordinate amount, and the second position offset information is a second offset coordinate amount; the processor 202, Also specifically used for:

The sum of the position coordinates, the first offset coordinate amount and the second offset coordinate amount is calculated as the actual landing position information.

Optionally, the agricultural unmanned aerial vehicle includes a wind speed sensor and a wind direction sensor; the processor 202 is also specifically used for:

Read the current wind speed detected by the wind speed sensor and the current wind direction detected by the wind direction sensor.

Optionally, the processor 202 is further specifically configured to:

obtaining the current attitude angle of the agricultural unmanned aerial vehicle;

According to the attitude angle and the flight speed of the agricultural unmanned aerial vehicle, the current wind speed and the current wind direction are calculated.

Optionally, the processor 202 is further specifically configured to:

Calculate the product between the current wind speed and the second delay duration to obtain a second offset distance; the second delay duration is the delay duration corresponding to the landing delay;

Taking the current wind direction as a second offset direction, and according to the second offset distance and the second offset direction, second position offset information of the spray object relative to the current position information is determined.

Optionally, the processor 202 is further specifically configured to:

According to the current wind speed and the current wind direction, determining the duration of wind disturbance to the spraying object;

The processor 202 is also specifically used for:

calculating a first product between the flight speed and the target delay duration, and calculating a second product between the flight speed and the wind disturbance duration;

A sum of the first product and the second product is determined as the first offset distance.

Optionally, the processor 202 is further specifically configured to:

According to the first offset distance and the first offset direction, a first offset vector is generated; according to the second offset distance and the current wind direction, a second offset vector is generated; the second offset distance is the product between the current wind speed and the second delay duration;

The wind disturbance duration is determined according to the first offset vector, the second offset vector and the current wind speed.

Optionally, the current position information is a position coordinate of the current position, and the first position offset information is a first offset coordinate;

The processor 202 is also specifically used for:

The sum of the position coordinates of the current position and the first offset coordinates is calculated as the actual landing position information.

Optionally, the processor 202 is further specifically configured to:

The pre-stored delay duration is read as the first delay duration.

The operations performed by the above-mentioned apparatus are similar to the corresponding steps in the above-mentioned method, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

Further, an embodiment of the present application also provides an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle includes the above-mentioned spraying operation control device; the spraying operation control device of the agricultural unmanned aerial vehicle is used to execute each of the spraying operation control methods. steps, and can achieve the same technical effect, in order to avoid repetition, it is not repeated here. Optionally, the agricultural unmanned aerial vehicle can be a plant protection unmanned aerial vehicle.

Further, the embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer-readable storage medium runs on the computer, the computer executes each step in the above spraying operation control method, and The same technical effect can be achieved, and in order to avoid repetition, details are not repeated here.

Further, an embodiment of the present application further provides a computer program product containing instructions, when the instructions are executed on a computer, the computer is made to execute the above spraying operation control method.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

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

For example, FIG. 5 is a block diagram of a computing processing device provided by an embodiment of the present application. As shown in FIG. 5 , FIG. 5 shows a computing processing device that can implement the method according to the present application. The computing processing device traditionally includes a processor 310 and a computer program product or computer readable medium in the form of a memory 320 . The memory 320 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 320 has storage space 330 for program code for performing any of the method steps in the above-described methods. For example, the storage space 330 for program codes may include various program codes for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 6 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 320 in the computing processing device of FIG. 5 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code, ie code readable by a processor such as 310 for example, which when executed by a computing processing device, causes the computing processing device to perform each of the methods described above. step.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other. Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present application. Also, please note that instances of the phrase "in one embodiment" herein are not necessarily all referring to the same embodiment.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions recorded in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A spraying operation control method, applied to an agricultural unmanned aerial vehicle, characterized in that the method comprises:

Determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the execution delay of the spraying operation and/or the landing delay;

determining the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information;

Based on the actual landing position information, the spraying operation parameters of the agricultural unmanned aerial vehicle are determined, and the spraying operation is performed based on the spraying operation parameters.
The method according to claim 1, wherein the determining, according to the influence factor of the spraying operation, the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation, comprising:

obtaining a first delay time length corresponding to the execution delay, and/or obtaining a second delay time length corresponding to the landing delay of the spraying object;

The first position offset information is determined according to the current flight parameters, the first delay time and/or the second delay time of the agricultural UAV; the current flight parameters include flight speed and flight direction .
The method according to claim 2, wherein the acquiring the second delay time length corresponding to the landing delay of the spraying object comprises:

obtaining the current altitude of the agricultural unmanned aerial vehicle and the falling acceleration when the spraying object falls;

According to the current height and the falling acceleration, a second delay time period corresponding to the landing delay of the spraying object is determined.
The method according to claim 3, wherein the acquiring the falling acceleration of the spraying object when falling comprises:

obtaining the preset acceleration corresponding to the operation area of the spraying operation;

The falling acceleration is determined according to the preset acceleration.
The method according to claim 4, wherein the determining the falling acceleration according to the preset acceleration comprises:

obtaining the airflow value of the downwash airflow of the agricultural unmanned aerial vehicle;

Determine an acceleration increment value according to the airflow value; the acceleration increment value is positively correlated with the airflow value;

The sum of the acceleration increment value and the preset acceleration is determined as the falling acceleration.
The method according to claim 2, characterized in that, determining the first position offset according to current flight parameters of the agricultural unmanned aerial vehicle, the first delay duration and/or the second delay duration Shift information, including:

Calculate the sum of the first delay duration and the second delay duration to obtain a target delay duration;

determining a first offset distance according to the product of the flight speed and the target delay duration;

The flying direction is taken as the first offset direction, and first position offset information of the spraying object relative to the current position information is determined according to the first offset distance and the first offset direction.
The method according to any one of claims 1 to 6, wherein the method further comprises:

Obtain the current wind speed and current wind direction in the working environment;

determining the second position offset information of the spraying object according to the current wind speed and the current wind direction;

The current position information is the position coordinates of the current position, the first position offset information is a first offset coordinate amount, and the second position offset information is a second offset coordinate amount; The current position information of the unmanned aerial vehicle and the first position offset information determine the actual landing position information of the spraying object, including:

The sum of the position coordinates, the first offset coordinate amount and the second offset coordinate amount is calculated as the actual landing position information.
The method according to claim 7, wherein the agricultural unmanned aerial vehicle comprises a wind speed sensor and a wind direction sensor; the obtaining the current wind speed and the current wind direction in the operating environment comprises:

Read the current wind speed detected by the wind speed sensor and the current wind direction detected by the wind direction sensor.
The method according to claim 7, wherein the acquiring the current wind speed and the current wind direction in the working environment comprises:

obtaining the current attitude angle of the agricultural unmanned aerial vehicle;

According to the attitude angle and the flight speed of the agricultural unmanned aerial vehicle, the current wind speed and the current wind direction are calculated.
The method according to claim 7, wherein the determining the second position offset information of the spraying object according to the current wind speed and current wind direction comprises:

Calculate the product between the current wind speed and the target delay duration of the second delay duration to obtain a second offset distance; the second delay duration is the delay duration corresponding to the landing delay;

The current wind direction is taken as the second offset direction, and second position offset information of the spraying object relative to the current position information is determined according to the second offset distance and the second offset direction.
The method according to claim 6, wherein the method further comprises:

Obtain the current wind speed and current wind direction in the working environment;

According to the current wind speed and the current wind direction, determining the duration of wind disturbance to the spraying object;

The determining the first offset distance according to the product between the flight speed and the target delay time includes:

calculating a first product between the flight speed and the target delay duration, and calculating a second product between the flight speed and the wind disturbance duration;

A sum of the first product and the second product is determined as the first offset distance.
The method according to claim 11, wherein the determining, according to the current wind speed and the current wind direction, the duration of wind disturbance to the spraying object comprises:

According to the first offset distance and the first offset direction, a first offset vector is generated; according to the second offset distance and the current wind direction, a second offset vector is generated; the second offset distance is the product between the current wind speed and the second delay duration;

The wind disturbance duration is determined according to the first offset vector, the second offset vector and the current wind speed.
The method according to claim 11 or 12, wherein the current position information is a position coordinate of the current position, and the first position offset information is a first offset coordinate;

The determining the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information includes:

The sum of the position coordinates of the current position and the first offset coordinates is calculated as the actual landing position information.
The method according to claim 2, wherein the acquiring the first delay duration corresponding to the execution delay comprises:

The pre-stored delay duration is read as the first delay duration.
A spraying operation control device, which is applied to an agricultural unmanned aerial vehicle, characterized in that the device includes a memory and a processor;

the memory for storing program codes;

The processor calls the program code to perform the following operations:

Determine the first position offset information of the spraying object when the agricultural unmanned aerial vehicle performs the spraying operation according to the influence factor of the spraying operation; the influence factor includes the execution delay of the spraying operation and/or the landing delay;

determining the actual landing position information of the spraying object according to the current position information of the agricultural unmanned aerial vehicle and the first position offset information;

Based on the actual landing position information, the spraying operation parameters of the agricultural unmanned aerial vehicle are determined, and the spraying operation is performed based on the spraying operation parameters.
The apparatus according to claim 15, wherein the processor is specifically configured to:

obtaining a first delay time length corresponding to the execution delay, and/or obtaining a second delay time length corresponding to the landing delay of the spraying object;

The first position offset information is determined according to the current flight parameters, the first delay time and/or the second delay time of the agricultural UAV; the current flight parameters include flight speed and flight direction .
The apparatus according to claim 16, wherein the processor is specifically configured to:

obtaining the current altitude of the agricultural unmanned aerial vehicle and the falling acceleration when the spraying object falls;

According to the current height and the falling acceleration, a second delay time period corresponding to the landing delay of the spraying object is determined.
The apparatus according to claim 17, wherein the processor is specifically configured to:

obtaining the preset acceleration corresponding to the operation area of the spraying operation;

The falling acceleration is determined according to the preset acceleration.
The apparatus according to claim 18, wherein the processor is specifically configured to:

obtaining the airflow value of the downwash airflow of the agricultural unmanned aerial vehicle;

Determine an acceleration increment value according to the airflow value; the acceleration increment value is positively correlated with the airflow value;

The sum of the acceleration increment value and the preset acceleration is determined as the falling acceleration.
The apparatus according to claim 16, wherein the processor is specifically configured to:

Calculate the sum of the first delay duration and the second delay duration to obtain a target delay duration;

determining a first offset distance according to the product of the flight speed and the target delay duration;

The flying direction is taken as the first offset direction, and first position offset information of the spraying object relative to the current position information is determined according to the first offset distance and the first offset direction.
The apparatus according to any one of claims 15 to 20, wherein the processor is specifically configured to:

Obtain the current wind speed and current wind direction in the working environment;

determining the second position offset information of the spraying object according to the current wind speed and the current wind direction;

The current position information is the position coordinates of the current position, the first position offset information is a first offset coordinate amount, and the second position offset information is a second offset coordinate amount; the processor further specifically Used for:

The sum of the position coordinates, the first offset coordinate amount and the second offset coordinate amount is calculated as the actual landing position information.
The device according to claim 21, wherein the agricultural unmanned aerial vehicle comprises a wind speed sensor and a wind direction sensor; the processor is specifically used for:

Read the current wind speed detected by the wind speed sensor and the current wind direction detected by the wind direction sensor.
The apparatus according to claim 21, wherein the processor is specifically configured to:

obtaining the current attitude angle of the agricultural unmanned aerial vehicle;

According to the attitude angle and the flight speed of the agricultural unmanned aerial vehicle, the current wind speed and the current wind direction are calculated.
The apparatus according to claim 21, wherein the processor is specifically configured to:

Calculate the product between the current wind speed and the second delay duration to obtain a second offset distance; the second delay duration is the delay duration corresponding to the landing delay;

The current wind direction is taken as the second offset direction, and second position offset information of the spraying object relative to the current position information is determined according to the second offset distance and the second offset direction.
The apparatus according to claim 20, wherein the processor is specifically configured to:

Obtain the current wind speed and current wind direction in the working environment;

According to the current wind speed and the current wind direction, determining the duration of wind disturbance to the spraying object;

calculating a first product between the flight speed and the target delay duration, and calculating a second product between the flight speed and the wind disturbance duration;

A sum of the first product and the second product is determined as the first offset distance.
The apparatus according to claim 25, wherein the processor is specifically configured to:

According to the first offset distance and the first offset direction, a first offset vector is generated; according to the second offset distance and the current wind direction, a second offset vector is generated; the second offset distance is the product between the current wind speed and the second delay duration;

The wind disturbance duration is determined according to the first offset vector, the second offset vector and the current wind speed.
The device according to claim 25 or 26, wherein the current position information is a position coordinate of the current position, and the first position offset information is a first offset coordinate; the processor specifically uses At:

The sum of the position coordinates of the current position and the first offset coordinates is calculated as the actual landing position information.
The apparatus according to claim 16, wherein the processor is specifically configured to:

The pre-stored delay duration is read as the first delay duration.
An agricultural unmanned aerial vehicle, characterized in that, the agricultural unmanned aerial vehicle comprises the spraying operation control device according to any one of the above claims 15-28.
A computer-readable storage medium, characterized by comprising instructions, when executed on a computer, causing the computer to execute the spraying operation control method of any one of claims 1-14.
A computer program product comprising instructions, characterized in that, when the instructions are executed on a computer, the instructions cause the computer to execute the spraying operation control method of any one of claims 1-14.