CN110799419B - Unmanned aerial vehicle control method, box and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method, box and unmanned aerial vehicle Download PDFInfo
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- CN110799419B CN110799419B CN201880041880.3A CN201880041880A CN110799419B CN 110799419 B CN110799419 B CN 110799419B CN 201880041880 A CN201880041880 A CN 201880041880A CN 110799419 B CN110799419 B CN 110799419B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005507 spraying Methods 0.000 claims description 46
- 239000007921 spray Substances 0.000 claims description 24
- 239000011241 protective layer Substances 0.000 claims description 16
- 239000007788 liquid Substances 0.000 description 13
- 239000000575 pesticide Substances 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003698 anagen phase Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
Unmanned aerial vehicle's control method and unmanned aerial vehicle (100), unmanned aerial vehicle (100) include organism (10) and box (20), and information acquisition ware (11) are installed to organism (10), and box (20) are equipped with box sign (21) that can be obtained by information acquisition ware (11), and unmanned aerial vehicle's control method includes: determining whether the information collector (11) acquires the box body identifier (21); if yes, determining that the box body (20) is mounted on the machine body (10), and acquiring relevant information of the box body (20) according to the box body identification (21); and determining the working mode of the unmanned aerial vehicle (100) according to the related information of the box body (20).
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, a box body and the unmanned aerial vehicle.
Background
At present, plant protection unmanned aerial vehicle uses manpower sparingly cost owing to the operating efficiency is high, and can intelligent advantage such as spraying operation widely used in agricultural field. Along with the wider and wider application of the plant protection unmanned aerial vehicle, the demands of users are also increased, and the working environment and the working object which the plant protection unmanned aerial vehicle needs to adapt to are changed more. According to the increase of demand, for the change of adaptation environment and operation object better, promote the operating efficiency, need be the different box of unmanned aerial vehicle assembly. In the past, related information of the box needs to be identified manually, but the manual identification is easy to be wrong, so that a user is wrongly installed when facing a plurality of different boxes, and if the box information loaded by the unmanned aerial vehicle cannot be identified, effective operation planning cannot be accurately performed on the unmanned aerial vehicle, and real intelligent operation cannot be achieved.
Disclosure of Invention
The application provides a control method of an unmanned aerial vehicle, a box and the unmanned aerial vehicle.
The unmanned aerial vehicle's of this application embodiment control method is used for unmanned aerial vehicle, unmanned aerial vehicle includes organism and box, information acquisition ware is installed to the organism, the box be equipped with can by information acquisition ware acquires the box sign, unmanned aerial vehicle's control method includes:
determining whether the information collector acquires the box body identification;
if yes, determining that the box body is mounted on the machine body, and acquiring relevant information of the box body according to the box body identification;
and determining the working mode of the unmanned aerial vehicle according to the related information of the box body.
According to the unmanned aerial vehicle control method, the box body can be determined to be mounted on the machine body and related information of the box body through the box body identification obtained by the information collector, and then the working mode of the unmanned aerial vehicle can be determined according to the related information of the box body, so that the accuracy of unmanned aerial vehicle working control can be improved, for example, the accuracy of unmanned aerial vehicle operation planning is improved, and intelligent planning of a spraying path or planning of intelligent return after loading objects are sprayed out is achieved.
The box body of the embodiment of the application is used for being arranged on an unmanned aerial vehicle and providing loading objects for the operation of the unmanned aerial vehicle, the box body is provided with a box body mark which can be acquired by an information acquisition device,
the box body identification can be determined to be installed on the machine body when being acquired by the information acquisition device, and is used for providing relevant information of the box body, and the unmanned aerial vehicle can determine the working mode of the unmanned aerial vehicle according to the relevant information of the box body.
In the box, the box identification obtained by the information collector can be used for determining the relevant information of the box mounted on the machine body and the box, and then the working mode of the unmanned aerial vehicle can be determined according to the relevant information of the box, so that the accuracy of the working control of the unmanned aerial vehicle can be improved, for example, the accuracy of the operation planning of the unmanned aerial vehicle is improved, and the intelligent planning of a spraying path or the planning of the intelligent return after the loaded objects are completely sprayed can be realized.
The unmanned aerial vehicle of this embodiment includes organism and controller, the information acquisition ware is installed to the organism, the controller is connected the information acquisition ware, the information acquisition ware is used for acquireing the box sign of box, the controller is used for confirming whether the information acquisition ware is acquireed the box sign, and be used for the information acquisition ware is acquireed when the box sign confirms the box is installed the organism, and be used for according to the box sign acquires the relevant information of box, and be used for according to the relevant information of box confirms unmanned aerial vehicle's mode of operation.
In the unmanned aerial vehicle, the box body can be determined through the box body identification acquired by the information acquisition device to be mounted on the machine body and related information of the box body, and then the working mode of the unmanned aerial vehicle can be determined according to the related information of the box body, so that the accuracy of the working control of the unmanned aerial vehicle can be improved, for example, the accuracy of the operation planning of the unmanned aerial vehicle is improved, and the intelligent planning of a spraying path or the planning of intelligent return after the loaded objects are completely sprayed can be realized.
Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flow chart of a control method of a drone according to an embodiment of the present application;
fig. 2 is another flow chart of a control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 3 is a schematic flow chart of a control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 4 is a schematic flow chart of a control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 5 is a partial schematic perspective view of a drone of an embodiment of the present application;
fig. 6 is another partial perspective view of the drone of an embodiment of the present application;
FIG. 7 is a schematic cross-sectional view of a drone of an embodiment of the present application;
FIG. 8 is an enlarged schematic view of the unmanned portion I of FIG. 7;
FIG. 9 is an enlarged schematic view of the portion II of the drone of FIG. 8;
fig. 10 is a partial perspective view of a body of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 11 is another partial perspective view of a body of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 12 is a schematic perspective view of a case of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 13 is a schematic side view of a box of the unmanned aerial vehicle of an embodiment of the present application;
fig. 14 is a schematic block diagram of the unmanned aerial vehicle according to the embodiment of the present application.
Fig. 15 is an overall schematic view of the unmanned aerial vehicle according to the embodiment of the present application.
Description of main reference numerals:
the unmanned plane 100;
the device comprises a machine body 10, a machine frame 101, a foot rest 102, a mounting groove 103, an information collector 11, a first protective layer 12, a box body 20, a box body mark 21, a second protective layer 22, a controller 30 and a spraying system 40.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1 to 14 together, the control method of the unmanned aerial vehicle according to the embodiment of the present application is applied to the unmanned aerial vehicle 100 according to the embodiment of the present application. The unmanned aerial vehicle 100 is used for carrying the box 20 for performing work. The drone 100 includes a body 10. The body 10 is mounted with an information collector 11. The case 20 is provided with a case identification 21 that can be acquired by the information collector 11. The control method of the unmanned aerial vehicle comprises the following steps:
step S1, determining whether the information collector 11 acquires the box body identifier 21;
step S2, if yes, determining that the box 20 is mounted on the machine body 10, and acquiring relevant information of the box 20 according to the box identifier 21;
step S3, determining the working mode of the unmanned aerial vehicle 100 according to the specification information of the box 20.
According to the unmanned aerial vehicle control method, the box body 20 can be installed on the machine body 10 and the related information of the box body 20 can be determined through the box body identification 21 acquired by the information collector 11, and then the working mode of the unmanned aerial vehicle 100 can be determined according to the related information of the box body 20, so that the accuracy of the unmanned aerial vehicle 100 working control can be improved, for example, the accuracy of the operation planning of the unmanned aerial vehicle 100 is improved, and the intelligent planning of a spraying path or the intelligent return planning of a loaded object after being sprayed out can be realized.
The tank 20 may be used to hold a liquid (e.g., a liquid containing a pesticide), a powder, solid particles, seeds, or the like. The relevant information is, for example, specification information of the case 20, information of the load, or operation information of the unmanned aerial vehicle 100.
It can be appreciated that the control method of the unmanned aerial vehicle according to the embodiment of the present application can determine the working mode of the unmanned aerial vehicle 100 according to the specification information of the box 20, so as to improve the working efficiency of the unmanned aerial vehicle 100. In practical application, if the specification information of the box 20 mounted on the unmanned aerial vehicle 100 is different from the specification information of the box required by the practical unmanned aerial vehicle 100, the misoperation can be reduced by controlling the start and stop of the unmanned aerial vehicle 100 or by sending out prompt information. It will be appreciated that after the drone 100 is powered on, the information collector 11 may be activated to detect the bin id 21.
For example, in some examples, the drone 100 is a plant protection drone. The unmanned aerial vehicle 100 can realize spraying to plants through the liquid medicine of the box body 20. For different application scenarios, the drone 100 may need to be fitted with different specifications of boxes 20. For example, the size of the box 20 required for the drone 100 may vary from crop to crop. When the area of the crop is large, the capacity of the box 20 required for the unmanned aerial vehicle 100 may be large; while the volume of the tank 20 required by the drone 100 may be smaller when the area of the crop is smaller. If the operation mode of the unmanned aerial vehicle 100 is not determined according to the specification information of the box 20, there may be a problem that crops cannot be effectively sprayed. For example, if the crop area is large, the drone 100 is actually equipped with a smaller capacity tank 20. At this time, if the specification information of the box 20 is not obtained and the working mode of the unmanned aerial vehicle 100 is determined according to the specification information of the box 20, it is unavoidable that part of crops cannot be effectively sprayed. If the control method of the unmanned aerial vehicle of the application timely obtains the specification information of the box 20 and determines the working mode of the unmanned aerial vehicle 100 according to the specification information of the box 20, the situation that part of plants cannot be effectively sprayed can be avoided. It will be appreciated that different application scenarios may also be possible, for example, different crop types, such as farm crops and fruit crops, or different growth phases of the same crop, and the types, viscosity, or dosage of pesticide to be sprayed are different for different application scenarios, which is not limited herein.
It will be appreciated that the case identification 21, when acquired by the information collector 11, can determine that the case 20 is mounted to the machine body 10 and is used to provide information about the case 20, and the unmanned aerial vehicle 100 can determine the operation mode of the unmanned aerial vehicle 100 according to the information about the case 20.
In the present embodiment, the unmanned aerial vehicle 100 includes a controller 30 mounted on the body 10. The controller 30 is connected to the information collector 11. The information collector 11 is used for acquiring a box identifier 21 of the box 20. The controller 30 is configured to determine whether the information collector 11 obtains the box identifier 21, determine that the box 20 is mounted to the machine body 10 when the information collector 11 obtains the box identifier 21, obtain relevant information of the box 20 according to the box identifier 21, and determine an operation mode of the unmanned aerial vehicle 100 according to the relevant information of the box 20.
Referring to fig. 5 and 10, in the present embodiment, a machine body 10 includes a frame 101 and a stand 102 connected to the frame 101. The frame 101 is formed with a mounting groove 103. The mounting groove 103 is used for mounting the case 20. The information collector 11 is mounted on the side wall of the mounting groove 103. When the case 20 is mounted in the mounting groove 103, the information collector 11 is opposed to the case mark 21. This facilitates the information collector 11 to obtain the box identifier 21, and thus enables the controller 30 to obtain the relevant information of the box.
The shape of the case 20 may be set according to the specific situation. The specific mounting position of the box logo 21 on the box 20 can also be set according to the specific situation. In the example shown in fig. 7, a case mark 21 is attached to the upper end portion of the case 20. The box sign 21 is substantially rectangular parallelepiped.
In certain embodiments, the information collector 11 comprises an electronic tag reader, and the case identification 21 comprises at least one of an RFID tag and an NFC tag. In this way, the information about the case identification 21 can be acquired by the electronic reader.
In certain embodiments, the information collector 11 comprises a camera. The box logo 21 includes at least one of a two-dimensional code and a bar code. Thus, the related information in the two-dimensional code and/or the bar code can be obtained through the camera.
In some embodiments, the information about the case 20 includes at least one of specification information of the case 20, information of case loads, and operation information of the unmanned aerial vehicle 100. For example, the unmanned aerial vehicle 100 may determine the operation mode of the unmanned aerial vehicle 100 according to the specification information of the case 20, or may confirm the operation mode of the unmanned aerial vehicle 100 according to the information of the case load, for example, the unmanned aerial vehicle 100 may determine to perform pesticide spraying operation according to the pesticide loaded by the case 20, and for example, the unmanned aerial vehicle 100 may determine to perform sowing operation according to the seed loaded by the case 20. In some embodiments, the control method of the unmanned aerial vehicle includes:
if the information about the box 20 is inconsistent with the information about the box required by the unmanned aerial vehicle 100 to perform the task, the unmanned aerial vehicle 100 is controlled to send out prompt information or the unmanned aerial vehicle 100 is controlled to be unable to take off.
It will be appreciated that the controller 30 can be configured to control the drone 100 to issue a prompt or control the drone 100 to fail to take off when the information associated with the case 20 is inconsistent with the case related information required for the mission to be performed by the drone 100.
In some embodiments, the information about the tank 20 includes at least one of a full capacity, an existing capacity, and a model of the tank 20. The full capacity refers to the capacity of the tank 20 when full of liquid, and the liquid may be water, pesticide, nutrient solution, or the like. The above-mentioned existing capacity refers to the capacity of the liquid actually carried by the tank 20. The related information can be preprocessed to form the box body mark 21 which can be read by the information collector, and the box body mark 21 is attached to the outer surface of the box body.
In some embodiments, the information of the pod load includes at least one of a type of the pod load, a physical state of the pod load, a viscosity of the pod load, and a volume or weight of the pod load. The type of the box is, for example, seed type or pesticide type, the viscosity of the box is, for example, liquid viscosity, and the volume or weight of the box is, for example, liquid volume or weight.
In some embodiments, the job information includes at least one of job environment information and category information of the work object. The operation environment information is, for example, weather conditions, and the unmanned aerial vehicle 100 can confirm whether to take off according to the magnitude of the environmental wind. For example, when the unmanned aerial vehicle 100 is in the mode set by the user, the operation needs to be performed on farm crops, and the type information of the operation object of the box body actually carried is displayed as fruit crops, at this time, the user can be prompted that the box body is loaded in error, or the unmanned aerial vehicle 100 can judge whether the take-off needs to be performed according to the operation type information.
In the present embodiment, the surface of the information collector 11 is attached with the first protective layer 12 and the surface of the case mark 21 is attached with the second protective layer 22. It will be appreciated that in other embodiments, the surface of the information collector 11 is coated with the first protective layer 12, or the surface of the housing label 21 is coated with the second protective layer 22.
The first protective layer 12 and the second protective layer 22 can protect the information collector 11 and the box body identifier, respectively, and prevent the information collector and the box body identifier from being damaged to cause failure in reading information. The first protective layer 12 may be made of plastic material, and the second protective layer 22 may be made of a protective sticker. Further, the material of the protective layer should not prevent the information collector from reading the housing identification.
Referring to fig. 2 to 4, in some embodiments, step S3 includes:
determining whether the specification information of the box 20 is consistent with the box specification required by the task to be executed by the unmanned aerial vehicle 100, if so, determining the working mode of the unmanned aerial vehicle 100 according to the specification information of the box 20;
or (b)
Determining whether the information of the box loading object is consistent with the box loading object required by the task to be executed by the unmanned aerial vehicle 100, if so, determining the working mode of the unmanned aerial vehicle according to the information of the box loading object; or (b)
And determining whether the operation information of the unmanned aerial vehicle 100 is consistent with the operation information required by the task to be executed by the unmanned aerial vehicle 100, and if so, determining the working mode of the unmanned aerial vehicle 100 according to the operation information of the unmanned aerial vehicle 100.
In this way, when the specification information of the case 20 or the information of the case load is consistent with the case specification or the operation information required for the task to be performed by the unmanned aerial vehicle 100, the operation mode of the unmanned aerial vehicle 100 is determined according to the specification information of the case 20 or the information of the case load, so as to improve the operation efficiency of the unmanned aerial vehicle 100.
For example, when the unmanned aerial vehicle 100 performs a spraying operation, if the specification information of the case 20 is consistent with the case specification required for the task to be performed by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 may perform a subsequent spraying operation. For another example, when the unmanned aerial vehicle 100 performs the spraying operation, if the information of the box load of the box 20 is consistent with the operation information required by the unmanned aerial vehicle 100 to perform the task, the unmanned aerial vehicle 100 may perform the subsequent spraying operation.
Referring to fig. 2 to 4, in some embodiments, step S3 includes:
if the specification information of the box 20 is inconsistent with the box specification required by the task to be executed by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 is controlled to send out prompt information or the unmanned aerial vehicle 100 is controlled to be unable to take off;
or (b)
When the information of the box loading object is inconsistent with the box loading object required by the unmanned aerial vehicle to execute the task, controlling the unmanned aerial vehicle 100 to send out prompt information or controlling the unmanned aerial vehicle 100 to be unable to take off; or (b)
When the operation information of the unmanned aerial vehicle is inconsistent with the operation information required by the task to be executed by the unmanned aerial vehicle, the unmanned aerial vehicle 100 is controlled to send out prompt information or the unmanned aerial vehicle 100 is controlled to be unable to take off.
In this way, the unmanned aerial vehicle 100 can send out prompt information according to the related information to prompt in time. The prompt information may be an acoustic prompt information, an optical prompt information, or a vibration prompt information. For example, in some examples, the buzzer sounds to prompt when the model of the case 20 does not match the case model required for the unmanned aerial vehicle 100 to perform the task.
It will be appreciated that the controller 30 can be configured to determine whether the specification information of the case 20 is consistent with the case specification required for the task to be performed by the unmanned aerial vehicle 100, and determine the operation mode of the unmanned aerial vehicle 100 according to the specification information of the case 20 when the specification information of the case 20 is consistent with the case specification required for the task to be performed by the unmanned aerial vehicle 100. It will be appreciated that the controller 30 is capable of controlling the unmanned aerial vehicle 100 to send a prompt message or controlling the unmanned aerial vehicle 100 to fail to take off when the specification information of the box 20 is inconsistent with the box specification required for the task to be performed by the unmanned aerial vehicle 100.
It will be appreciated that the controller 30 can be configured to determine whether the information of the pod load is consistent with the pod load required for the task to be performed by the drone 100, and to determine the manner of operation of the drone based on the information of the pod load when the information of the pod load is consistent with the pod load required for the task to be performed by the drone 100. It will be appreciated that the controller 30 is capable of controlling the drone 100 to send a prompt or controlling the drone 100 to fail to take off when the information of the pod load is inconsistent with the pod load required for the mission to be performed by the drone 100.
It will be appreciated that the controller 30 can be configured to determine whether the operation information of the unmanned aerial vehicle 100 is consistent with the operation information required for the task to be performed by the unmanned aerial vehicle 100, and to determine the operation mode of the unmanned aerial vehicle 100 according to the operation information of the unmanned aerial vehicle 100 when the operation information of the unmanned aerial vehicle 100 is consistent with the operation information required for the task to be performed by the unmanned aerial vehicle 100. It will be appreciated that the controller 30 is capable of controlling the drone 100 to send a prompt or controlling the drone 100 to fail to take off when the operational information of the drone 100 is inconsistent with the operational information required for the mission to be performed by the drone 100.
In certain embodiments, step S3 comprises:
determining the operation mode of the unmanned aerial vehicle 100 according to the specification information of the box 20 includes: determining a spray path of the unmanned aerial vehicle 100 according to the full capacity, the existing capacity, or the model of the tank 20;
determining the operation mode of the unmanned aerial vehicle 100 according to the information of the box load comprises: determining a spraying path of the unmanned aerial vehicle 100 according to the type of the box load, the physical state of the box load, the viscosity of the box load, and the volume or weight of the box load;
determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle, wherein the method comprises the following steps: and determining a spraying path of the unmanned aerial vehicle according to the operation environment information and the type information of the operation objects.
In this way, the work efficiency can be improved.
The "existing volume" mentioned above is the actual volume of the liquid in the tank 20. The "box load" is, for example, a liquid (for example, a liquid containing a pesticide), a powder, solid particles, seeds, or the like. The "work environment information" is, for example, weather conditions.
For example, when the unmanned aerial vehicle 100 is used for planning a plant spraying operation path, the length of the spraying path of the unmanned aerial vehicle 100 can be determined according to the existing capacity of the box 20, and the return time after the unmanned aerial vehicle 100 is sprayed can be determined according to the existing capacity, so as to ensure the accuracy of the unmanned aerial vehicle 100 in the whole spraying process. When the existing capacity of the case 20 is large, the path along which the unmanned aerial vehicle 100 sprays can be set long, and the unmanned aerial vehicle 100 can perform a spraying operation for a long time. When the existing capacity of the case 20 is small, the path of the unmanned aerial vehicle 100 to spray can be set short, and the unmanned aerial vehicle 100 can perform a short-distance spraying operation.
When the control method of the unmanned aerial vehicle is applied to the unmanned aerial vehicle 100, the specification information includes the full capacity, the existing capacity, or the model of the box 20. The controller 30 is used to determine the spray path of the unmanned aerial vehicle 100 based on the full capacity, existing capacity, or model of the tank 20. It is understood that the information of the pod load includes the kind of the pod load, the physical state of the pod load, the viscosity of the pod load, and the volume or weight of the pod load, and the controller 30 can be used to determine the spray path of the unmanned aerial vehicle 100 according to the kind of the pod load, the physical state of the pod load, the viscosity of the pod load, and the volume or weight of the pod load. It will be appreciated that the operation information of the unmanned aerial vehicle 100 includes operation environment information and type information of the work object, and the controller 30 can be used to determine a spray path of the unmanned aerial vehicle 100 according to the operation environment information and the type information of the work object. In the present embodiment, the controller 30 is used to determine the spray path of the unmanned aerial vehicle 100 based on the existing capacity of the tank 20.
In certain embodiments, step S3 comprises:
determining whether the existing capacity of the tank 20 is greater than a capacity threshold;
if yes, controlling the unmanned aerial vehicle 100 to take off and executing a spraying path of the unmanned aerial vehicle 100;
if not, the unmanned aerial vehicle 100 is controlled to send out prompt information or the unmanned aerial vehicle 100 is controlled to be unable to take off.
As such, when the existing capacity of the case 20 is greater than the capacity threshold, the drone 100 is able to take off and execute the spray path of the drone 100; when the existing capacity of the case 20 is less than or equal to the capacity threshold, the unmanned aerial vehicle 100 can send out a prompt message or cannot take off. Wherein, the capacity threshold value can be set according to specific situations.
For example, when the existing capacity of the box 20 is larger than the capacity threshold value during the plant spraying operation using the unmanned aerial vehicle 100, it is explained that the existing capacity of the box 20 is sufficient, and the normal spraying operation of the unmanned aerial vehicle 100 can be ensured. At this time, the specific spraying path of the unmanned aerial vehicle 100 may be determined according to the existing capacity of the case 20, for example, when the existing capacity of the case 20 is large, the spraying path of the unmanned aerial vehicle 100 may be set longer. If the existing capacity of the case 20 is less than or equal to the capacity threshold, it is indicated that the existing capacity of the case 20 is insufficient, and the normal spraying operation of the unmanned aerial vehicle 100 cannot be satisfied. At this time, prompt information can be sent out in time, or the unmanned aerial vehicle 100 can not take off.
In addition, if it is detected that the existing capacity of the case 20 is less than or equal to the capacity threshold when the unmanned aerial vehicle 100 is in a flight state (for example, spraying operation is being performed), the unmanned aerial vehicle 100 can be controlled to send a prompt message and stop the operation, and the unmanned aerial vehicle 100 can be controlled to return.
In the present embodiment, the controller 30 is configured to determine whether the existing capacity of the case 20 is greater than a capacity threshold, and to control the unmanned aerial vehicle 100 to take off and execute a spraying path of the unmanned aerial vehicle 100 when the existing capacity of the case 20 is greater than the capacity threshold, and to control the unmanned aerial vehicle 100 to issue a prompt message or control the unmanned aerial vehicle 100 to fail to take off when the existing capacity of the case 20 is less than or equal to the capacity threshold.
In certain embodiments, the drone 100 includes a spray system 40 mounted to the body 10. The spraying system 40 is used to connect with the case 20 when the case 20 is mounted to the body 10, and the control method of the unmanned aerial vehicle includes:
step S4, if the information collector 11 does not acquire the box body identification 21, the box body 20 is determined not to be mounted on the machine body 10, and the spraying system 40 is turned off and/or the unmanned aerial vehicle 100 is forbidden from taking off.
In this way, when the information collector 11 does not acquire the box identifier 21, the spraying system 40 can be turned off in time, and the unmanned aerial vehicle 100 can be prohibited from taking off at the same time.
For example, when the unmanned aerial vehicle 100 is not taking off, the information collector 11 does not acquire the box body identifier 21, and at this time, the box body 20 is not mounted to the machine body 10, so that the spraying system 40 can be directly turned off to prevent misoperation. When the unmanned aerial vehicle 100 is in a flight state, the information collector 11 does not acquire the box body identifier 21, and the box body 20 is separated from the machine body 10, the spraying system 40 should be directly closed to prevent misoperation.
It will be appreciated that the controller 30 is configured to determine that the housing 20 is not mounted to the body 10 when the housing identification 21 is not acquired by the information collector 11, and is configured to shut down the spray system 40 and/or inhibit takeoff of the drone 100 when the housing identification 21 is not acquired by the information collector 11. That is, when the information collector 11 does not acquire the box identifier 21, the controller 30 can turn off the spraying system 40, or the controller 30 prohibits the unmanned aerial vehicle 100 from taking off, or the controller 30 turns off the spraying system 40 and prohibits the unmanned aerial vehicle 100 from taking off.
Referring to fig. 15, in an embodiment, a box-mounted unmanned aerial vehicle is illustrated, and specifically, unmanned aerial vehicle 100 includes a body 10, a box 20, a controller 30 (not shown), and a spraying system 40. The housing 20 is mounted to the body 10 and the spraying system 40 is operated by the controller 30. In this embodiment, the spray system 40 includes a pump body (not shown), a connection tube, and a spray head. The connection pipe connects the case 20 and the spray head. The pump body is electrically connected to the controller 30. The controller 30 is used for controlling the pump body to work so as to pump the liquid in the tank body 20 to the spray head through the connecting pipe, so that the spray liquid is sprayed out of the spray head.
In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (35)
1. The utility model provides a control method of unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle includes organism and box, the information acquisition ware is installed to the organism, the box is equipped with can by the box sign that information acquisition ware obtained, unmanned aerial vehicle's control method includes:
determining whether the information collector acquires the box body identification; when the box body is arranged on the machine body, the information collector can be opposite to the box body mark;
if the box body identification is obtained, determining that the box body is mounted on the machine body, and obtaining relevant information of the box body according to the box body identification;
when the box body is determined to be mounted on the machine body, determining the working mode of the unmanned aerial vehicle according to the related information of the box body; wherein,
when the unmanned aerial vehicle is in a flight state, the working mode of the unmanned aerial vehicle is determined according to the relevant information of the box body, and the unmanned aerial vehicle comprises the following components:
if the related information of the box body is not acquired, controlling the unmanned aerial vehicle to close a spraying system, or
And if the obtained related information of the box body represents that the existing capacity of the box body is smaller than a capacity threshold value, controlling the unmanned aerial vehicle to stop working.
2. The method of claim 1, wherein the information collector comprises an electronic tag reader, and the case identification comprises at least one of an RFID tag and an NFC tag.
3. The method of claim 1, wherein the information collector comprises a camera and the box identification comprises at least one of a two-dimensional code and a bar code.
4. The control method of an unmanned aerial vehicle according to claim 1, wherein a protective layer is provided on the surface of the information collector and/or a protective layer is provided on the surface of the box body sign.
5. The method of claim 1, wherein the information about the box includes at least one of specification information of the box, information of a box load, and operation information of the unmanned aerial vehicle.
6. The method of claim 5, wherein the specification information of the case includes at least one of a full capacity, an existing capacity, and a model of the case.
7. The method of claim 5, wherein the information of the box load includes at least one of a kind of the box load, a physical state of the box load, a viscosity of the box load, and a volume or a weight of the box load.
8. The method of controlling a unmanned aerial vehicle according to claim 5, wherein the job information includes at least one of job environment information and type information of the work object.
9. The method of claim 5, wherein determining the operation mode of the unmanned aerial vehicle according to the information about the box comprises:
determining whether the specification information of the box body is consistent with the box body specification required by the task to be executed of the unmanned aerial vehicle, if so, determining the working mode of the unmanned aerial vehicle according to the specification information of the box body; or (b)
Determining whether the information of the box loading object is consistent with the box loading object required by the task to be executed by the unmanned aerial vehicle, if so, determining the working mode of the unmanned aerial vehicle according to the information of the box loading object; or (b)
And determining whether the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed of the unmanned aerial vehicle, and if so, determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle.
10. The method of claim 9, wherein,
determining the working mode of the unmanned aerial vehicle according to the specification information of the box body, wherein the method comprises the following steps: determining a spraying path of the unmanned aerial vehicle according to the full capacity, the existing capacity or the model of the box body;
determining the working mode of the unmanned aerial vehicle according to the information of the box loading object, wherein the method comprises the following steps: determining a spraying path of the unmanned aerial vehicle according to the type of the box body loading object, the physical state of the box body loading object, the viscosity of the box body loading object and the volume or weight of the box body loading object;
determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle, wherein the method comprises the following steps: and determining a spraying path of the unmanned aerial vehicle according to the operation environment information and the type information of the operation object.
11. The method of controlling a drone of claim 10, wherein determining a spray path of the drone based on an existing capacity of the tank comprises:
determining whether the existing capacity of the tank is greater than a capacity threshold;
if yes, controlling the unmanned aerial vehicle to take off and executing a spraying path of the unmanned aerial vehicle;
if not, controlling the unmanned aerial vehicle to send out prompt information or controlling the unmanned aerial vehicle to be unable to take off.
12. The method for controlling a drone of claim 1, wherein determining the manner of operation of the drone based on the information about the tank comprises:
if the related information of the box body is inconsistent with the related information of the box body required by the task to be executed by the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to send out prompt information or the unmanned aerial vehicle is controlled to be unable to take off.
13. The control method of a drone of claim 1, wherein the drone includes a spray system mounted to the housing, the spray system being for connection to the housing when the housing is mounted to the housing, the control method of the drone comprising:
if the information collector does not acquire the box body identification, determining that the box body is not mounted on the machine body, and closing the spraying system and/or prohibiting the unmanned aerial vehicle from taking off.
14. A box body which is used for being arranged on an unmanned aerial vehicle and providing loading objects for the operation of the unmanned aerial vehicle, the unmanned aerial vehicle comprises a machine body, and is characterized in that the box body is provided with a box body mark which can be acquired by an information acquisition device,
when the box body is arranged on the machine body, the information collector can be opposite to the box body identifier, the box body can be determined to be arranged on the machine body when the box body identifier is acquired by the information collector, the box body identifier is also used for providing relevant information of the box body, and the unmanned aerial vehicle can determine the working mode of the unmanned aerial vehicle according to the relevant information of the box body; wherein,
when the unmanned aerial vehicle is in a flight state, the working mode of the unmanned aerial vehicle is determined according to the relevant information of the box body, and the unmanned aerial vehicle comprises the following components:
if the related information of the box body is not acquired, controlling the unmanned aerial vehicle to close a spraying system, or
And if the obtained related information of the box body represents that the existing capacity of the box body is smaller than a capacity threshold value, controlling the unmanned aerial vehicle to stop working.
15. The case of claim 14, wherein the case identification comprises at least one of an RFID tag and an NFC tag.
16. The case of claim 14, wherein the case identification comprises at least one of a two-dimensional code and a bar code.
17. The case of claim 14, wherein the case related information includes at least one of specification information of the case, information of case load, and operation information of the unmanned aerial vehicle.
18. The cabinet of claim 17, wherein the specification information of the cabinet includes at least one of a full capacity, an existing capacity, and a model of the cabinet.
19. The bin of claim 17, wherein the information of the bin load includes at least one of a type of bin load, a physical state of the bin load, a viscosity of the bin load, and a volume or weight of the bin load.
20. The cabinet of claim 17, wherein the job information includes at least one of job environment information and kind information of the work object.
21. The case of claim 14, wherein the case logo has a protective layer on a surface thereof.
22. An unmanned aerial vehicle for carry on the box and carry out the operation, its characterized in that includes:
the box body is provided with an information collector, the information collector is used for obtaining a box body identifier of the box body, and when the box body is arranged on the box body, the information collector can be opposite to the box body identifier;
the controller is connected with the information collector and is used for determining whether the information collector acquires the box body identifier, determining that the box body is mounted on the machine body when the information collector acquires the box body identifier, acquiring the relevant information of the box body according to the box body identifier and determining the working mode of the unmanned aerial vehicle according to the relevant information of the box body; wherein,
when the unmanned aerial vehicle is in a flight state, the working mode of the unmanned aerial vehicle is determined according to the relevant information of the box body, and the unmanned aerial vehicle comprises the following components:
if the related information of the box body is not acquired, controlling the unmanned aerial vehicle to close a spraying system, or
And if the obtained related information of the box body represents that the existing capacity of the box body is smaller than a capacity threshold value, controlling the unmanned aerial vehicle to stop working.
23. The unmanned aerial vehicle of claim 22, wherein the unmanned aerial vehicle comprises the tank, the tank mounted to the body.
24. The drone of claim 22, wherein the information collector comprises an electronic tag reader, and the case identification comprises at least one of an RFID tag and an NFC tag.
25. The drone of claim 22, wherein the information collector comprises a camera, and the box identification comprises at least one of a two-dimensional code and a bar code.
26. The unmanned aerial vehicle of claim 22, wherein the surface of the information collector is provided with a protective layer and/or the surface of the box logo is provided with a protective layer.
27. The unmanned aerial vehicle of claim 22, wherein the information about the tank includes at least one of specification information of the tank, information of tank loads, and operational information of the unmanned aerial vehicle.
28. The drone of claim 27, wherein the tank specification information includes at least one of a full capacity, an existing capacity, and a model of the tank.
29. The drone of claim 27, wherein the information of the pod load includes at least one of a type of pod load, a physical state of the pod load, a viscosity of the pod load, and a volume or weight of the pod load.
30. The drone of claim 27, wherein the job information includes at least one of job environment information and category information of the work object.
31. The unmanned aerial vehicle of claim 27, wherein the controller is configured to determine whether the tank specification information is consistent with a tank specification required for the unmanned aerial vehicle to perform a task, and to determine a mode of operation of the unmanned aerial vehicle based on the tank specification information when the tank specification information is consistent with the tank specification required for the unmanned aerial vehicle to perform a task; or (b)
The controller is used for determining whether the information of the box loading object is consistent with the box loading object required by the task to be executed by the unmanned aerial vehicle, and determining the working mode of the unmanned aerial vehicle according to the information of the box loading object when the information of the box loading object is consistent with the box loading object required by the task to be executed by the unmanned aerial vehicle; or (b)
The controller is used for determining whether the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed by the unmanned aerial vehicle, and determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle when the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed by the unmanned aerial vehicle.
32. The unmanned aerial vehicle of claim 31, wherein the specification information comprises a full capacity, an existing capacity, or a model of the tank, and the controller is configured to determine a spray path of the unmanned aerial vehicle based on the full capacity, the existing capacity, or the model of the tank;
the information of the box loading object comprises the type of the box loading object, the physical state of the box loading object, the viscosity of the box loading object and the volume or weight of the box loading object, and the controller is used for determining the spraying path of the unmanned aerial vehicle according to the type of the box loading object, the physical state of the box loading object, the viscosity of the box loading object and the volume or weight of the box loading object;
the unmanned aerial vehicle operation information comprises operation environment information and operation object type information, and the controller is used for determining a spraying path of the unmanned aerial vehicle according to the operation environment information and the operation object type information.
33. The drone of claim 32, wherein the controller is to determine whether an existing capacity of the enclosure is greater than a capacity threshold, and to control the drone to take off and to execute a spray path of the drone when the existing capacity of the enclosure is greater than the capacity threshold, and to control the drone to issue a hint message or to control the drone to fail to take off when the existing capacity of the enclosure is less than or equal to the capacity threshold.
34. The unmanned aerial vehicle of claim 31, wherein the controller is configured to control the unmanned aerial vehicle to send a prompt message or control the unmanned aerial vehicle to fail to take off when the information associated with the tank is inconsistent with the information associated with the tank required for the unmanned aerial vehicle to perform the task.
35. The unmanned aerial vehicle of claim 30, wherein the unmanned aerial vehicle comprises a spray system mounted to the body, the spray system being configured to connect with the tank when the tank is mounted to the body, the controller being configured to determine that the tank is not mounted to the body when the tank identification is not acquired by the information collector, and to shut down the spray system and/or disable unmanned aerial vehicle takeoff when the tank identification is not acquired by the information collector.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/116186 WO2020102938A1 (en) | 2018-11-19 | 2018-11-19 | Unmanned aerial vehicle control method, box body and unmanned aerial vehicle |
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| CN110799419A CN110799419A (en) | 2020-02-14 |
| CN110799419B true CN110799419B (en) | 2024-03-15 |
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| WO2022193155A1 (en) * | 2021-03-16 | 2022-09-22 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method therefor, medicine box apparatus and control method therefor, liquid adding apparatus and control method therefor, and plant protection system |
| CN116677228B (en) * | 2023-05-31 | 2023-12-22 | 中交一公局华南工程有限公司 | Automatic maintenance system and method for high-rise structure based on unmanned aerial vehicle |
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| CN110799419A (en) | 2020-02-14 |
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