CN111344225B - Agricultural plant protection unmanned aerial vehicle and control method thereof - Google Patents

Agricultural plant protection unmanned aerial vehicle and control method thereof Download PDF

Info

Publication number
CN111344225B
CN111344225B CN201880067326.2A CN201880067326A CN111344225B CN 111344225 B CN111344225 B CN 111344225B CN 201880067326 A CN201880067326 A CN 201880067326A CN 111344225 B CN111344225 B CN 111344225B
Authority
CN
China
Prior art keywords
plant protection
agricultural plant
unmanned aerial
aerial vehicle
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201880067326.2A
Other languages
Chinese (zh)
Other versions
CN111344225A (en
Inventor
张岩松
张海
贾向华
辛昆鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Software Technology Co Ltd
Original Assignee
SZ DJI Software Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Software Technology Co Ltd filed Critical SZ DJI Software Technology Co Ltd
Priority to CN202311205342.2A priority Critical patent/CN117055436A/en
Publication of CN111344225A publication Critical patent/CN111344225A/en
Application granted granted Critical
Publication of CN111344225B publication Critical patent/CN111344225B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Agricultural plant protection unmanned aerial vehicle (100), include: a power unit (101); the flight controller (102) is electrically connected with the power device and used for controlling the power device to adjust the flight attitude; the communication device (103) is used for being in communication connection with a control terminal of the agricultural plant protection unmanned aerial vehicle, and is electrically connected with the flight controller, wherein the flight controller controls a control mode of the power device, the control mode comprises a common mode and a limiting mode, and in the limiting mode, the flight controller determines whether to enter a locking state according to operation information of a user; the communication device sends a selection request instruction of a control mode sent by the control terminal to the flight controller; the flight controller controls the power device to provide flight power according to the selected control mode. Also discloses a control method of the agricultural plant protection unmanned aerial vehicle. Can make the unmanned aerial vehicle manufacturer of agricultural plant protection effectively manage and control unmanned aerial vehicle use authority, reduce the user and purchase the machine cost.

Description

Agricultural plant protection unmanned aerial vehicle and control method thereof
Technical Field
The disclosure relates to the technical field of computers, in particular to an agricultural plant protection unmanned aerial vehicle and a control method of the agricultural plant protection unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by a radio remote control device or a self-programming control device. Currently, with the development of technology, unmanned aerial vehicle technology is mature. Unmanned aerial vehicle is widely applied to industries such as agriculture, forestry, electric power, mapping, telemetering and the like by the characteristics of high speed and flexible operation.
However, for the general user, the unmanned aerial vehicle has high cost and is difficult to be burdened. And after purchasing the unmanned aerial vehicle, the unmanned aerial vehicle needs to be maintained and repaired regularly, and a great deal of effort and financial resources are consumed. Especially in agricultural field, because plant protection has seasonality to make plant protection unmanned aerial vehicle idle rate higher. Therefore, the popularization of unmanned aerial vehicles mainly has the following problems: the unmanned aerial vehicle manufacturer lacks effective management and control of the unmanned aerial vehicle use right sold to the user; the cost of purchasing the machine once is high for the user.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
It is an object of the present disclosure to provide an agricultural plant protection unmanned aerial vehicle and a control method of the agricultural plant protection unmanned aerial vehicle, which overcome, at least in part, one or more problems due to the limitations and disadvantages of the related art.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to a first aspect of embodiments of the present disclosure, there is provided an agricultural plant protection drone, comprising: the power device is used for providing flight power for the unmanned aerial vehicle; the flight controller is electrically connected with the power device and used for controlling the power device to adjust the flight attitude; the communication device is used for being in communication connection with a control terminal of the agricultural plant protection unmanned aerial vehicle, and is electrically connected with the flight controller, wherein the flight controller controls a control mode of the power device, the control mode comprises a common mode and a limiting mode, and in the limiting mode, the flight controller determines whether to enter a locking state according to operation information of a user; the communication device sends a selection request instruction of a control mode sent by the control terminal to the flight controller; the flight controller selects the common mode or the limiting mode according to a selection request instruction of the control mode; the flight controller controls the power device to provide flight power according to the selected control mode.
According to a second aspect of embodiments of the present disclosure, there is provided a control method of an agricultural plant protection unmanned aerial vehicle, the method comprising: receiving a selection request instruction of a control mode sent by a control terminal; selecting a common mode or a limiting mode according to the selection request instruction of the control mode; and controlling the power device to provide flight power according to the selected control mode.
According to a third aspect of embodiments of the present disclosure, there is provided an agricultural plant protection drone, comprising: the power device is used for providing flight power for the unmanned aerial vehicle; the flight controller is electrically connected with the power device and used for controlling the power device to adjust the flight attitude; the sensor is used for acquiring operation related information when the agricultural plant protection unmanned aerial vehicle works, and is in communication connection with the flight controller, wherein the flight controller controls a control mode of the power device, the control mode comprises a normal mode and a limiting mode, and in the limiting mode, the flight controller determines whether to control the power device to provide flight power according to the operation information of a user; the flight controller determines the operated information of the agricultural plant protection unmanned aerial vehicle according to the operation related information acquired by the sensor; and the flight controller determines whether to automatically exit the limiting mode or not according to the total amount of the operated information and enters a common mode.
According to a fourth aspect of embodiments of the present disclosure, there is provided a control method of an agricultural plant protection unmanned aerial vehicle, the method comprising: acquiring operation related information acquired by a sensor, and determining the operated information of the agricultural plant protection unmanned aerial vehicle according to the operation related information; determining whether to automatically exit a limiting mode or not according to the total amount of the operated information, and entering a common mode; wherein in the limiting mode, whether the power device is controlled to provide flight power is determined according to the operation information of the user.
According to the technical scheme provided by the embodiments of the disclosure, on one hand, the control mode of the power device of the agricultural plant protection unmanned aerial vehicle can be switched through the flight controller according to specific operation information, so that the manufacturers of the agricultural plant protection unmanned aerial vehicle can effectively control the use authority of the unmanned aerial vehicle; on the other hand, when the control mode of the power device is set to be the normal mode and the limiting mode, a user can use the agricultural plant protection unmanned aerial vehicle to carry out agricultural operation in a repeated recharging mode when the control mode of the unmanned aerial vehicle is in the limiting mode, so that the cost of one-time purchase of the user is reduced, and when the total amount of the operation of the agricultural plant protection unmanned aerial vehicle reaches a certain value, the control mode of the agricultural plant protection unmanned aerial vehicle can be converted into the normal mode, and the control mode is not limited by manufacturers, so that the user experience is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
FIG. 1 schematically illustrates a structural schematic of an agricultural plant protection drone to which embodiments according to the present disclosure are applied;
FIG. 2 schematically illustrates a flow diagram of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
FIG. 3 schematically illustrates a flow diagram of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure;
FIG. 4 schematically illustrates a flow diagram of an activation method applying an agricultural plant protection drone according to some embodiments of the present disclosure;
FIG. 5 schematically illustrates a structural schematic of an application of an agricultural plant protection drone according to some embodiments of the present disclosure;
FIG. 6 schematically illustrates a flow diagram of a control method for applying an agricultural plant protection drone, according to some embodiments of the present disclosure;
FIG. 7 schematically illustrates a flow diagram of an activation method applying an agricultural plant protection drone according to some embodiments of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The invention discloses an unmanned aerial vehicle and a control method thereof, wherein the control modes comprise a common mode and a limiting mode, and when preset conditions are met, the corresponding control mode is selected for working.
In some embodiments, a corresponding control mode is selected according to the operation information of the unmanned aerial vehicle. For example, if the total amount of the already-operated information is equal to or greater than a preset value, the instruction of the normal mode is selected.
The control terminal of the unmanned aerial vehicle can send an instruction for selecting the common mode according to the total amount of the operated information being greater than or equal to a preset value. The control terminal can be a remote controller of an unmanned aerial vehicle, a mobile phone, a tablet personal computer, a ground base station, a background server and the like.
Or, the onboard controller (for example, a flight controller) of the unmanned aerial vehicle may send an instruction for selecting the normal mode according to the total amount of the operated information being equal to or greater than a preset value.
Specifically, the job information may include at least one of: the device comprises operation mileage, operation area, operation time, operation dosage, flight time, take-off times, shooting time and the like.
Specifically, acquiring operation related information according to a sensor of the unmanned aerial vehicle, and calculating the operated information according to the operation related information. The sensor may comprise at least one of: positioning sensors, timers, flow meters, image sensors, height sensors, etc.
For example, (1) the current working mileage can be obtained in real time according to a positioning sensor (e.g., GPS, etc.) of the unmanned aerial vehicle, so as to calculate the working mileage. (2) According to the operation distance and the preset operation width acquired by the positioning sensor of the unmanned aerial vehicle, the operation area can be acquired in real time so as to calculate the operated area; or calculating the operated area according to the current position information and the preset operation track acquired by the positioning sensor of the unmanned aerial vehicle. (3) And recording the working time or the flight time in real time according to the timer of the unmanned aerial vehicle so as to calculate the working time or the flight time. (4) And acquiring the sprayed medicine quantity in real time according to the flow sensor of the unmanned aerial vehicle so as to calculate the operated medicine quantity. (5) And recording the take-off times in real time according to the height sensor of the unmanned aerial vehicle so as to calculate the take-off times. (6) And according to the image sensor carried by the unmanned aerial vehicle, shooting times or shooting time are calculated in real time, so that the shot times or shot time are calculated.
In some embodiments, it is determined whether a preset part of the unmanned aerial vehicle enters a locked state according to whether the remaining amount of the job information is greater than a preset value.
And the control terminal of the unmanned aerial vehicle determines whether to enter a locking state according to whether the residual quantity of the operation information is larger than a preset value. The control terminal can be a remote controller of an unmanned aerial vehicle, a mobile phone, a tablet personal computer, a ground base station, a background server and the like.
Or, the onboard controller (for example, a flight controller) of the unmanned aerial vehicle determines whether to enter a locked state according to whether the remaining amount of the operation information is greater than a preset value.
In the locked state (mode), the drone may be disabled in part or in whole of its existing functions, or in part or in whole of its control instructions may not be executed.
For example, in the locked state (mode), a preset part (e.g., a working part such as a shower head, a water pump, a camera, etc., a power device such as a motor, etc.) of the unmanned aerial vehicle is controlled to stop working.
Or, when the locking state (mode) is established, controlling the agricultural plant protection unmanned aerial vehicle to return to the home immediately or stopping executing the operation plan.
Unmanned aerial vehicle can be unmanned aerial vehicle, agricultural plant protection unmanned aerial vehicle, survey unmanned aerial vehicle, patrol line unmanned aerial vehicle etc.. In the following examples, an agricultural plant protection unmanned aerial vehicle will be described as an example.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and features in the embodiments may be combined with each other.
FIG. 1 illustrates a schematic structural diagram of an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 1, an agricultural plant protection unmanned aerial vehicle 100 in the present disclosure may include: the power device 101, the flight controller 102 and the communication device 103, specifically, the power device 101 is used for providing flight power for the agricultural plant protection unmanned aerial vehicle 100; the flight controller 102 is electrically connected with the power device 101 and is used for controlling the power device 101 to adjust the flight attitude; the communication device 103 is used for being in communication connection with the control terminal 104 of the agricultural plant protection unmanned aerial vehicle 100, the communication device 103 is electrically connected with the flight controller 102, wherein the flight controller 102 controls the control mode of the power device 101, including a normal mode and a limiting mode, and in the limiting mode, the flight controller 102 determines whether to enter a locking state according to the operation information of a user; the communication device 103 transmits a control mode selection request instruction transmitted from the control terminal 104 to the flight controller 102; the flight controller 102 selects a normal mode or a limiting mode according to a selection request instruction of a control mode; the flight controller 102 controls the power plant 101 to provide flight power according to the selected control mode.
In the example embodiment, the control modes of the power device 101 are divided into two modes, namely a normal mode and a limiting mode, wherein the normal mode refers to a mode in which the agricultural plant protection unmanned aerial vehicle 100 is not limited by factors such as a recharging balance and an unmanned aerial vehicle manufacturer, and can perform corresponding operations according to instructions of users; the limiting mode refers to that the agricultural plant protection unmanned aerial vehicle 100 is limited by factors such as recharging balance and unmanned aerial vehicle manufacturer, for example, when a user needs to use the agricultural plant protection unmanned aerial vehicle 100 to perform operations such as fertilizer spreading and seeding, after the agricultural plant protection unmanned aerial vehicle 100 is activated, recharging is needed to obtain operation information corresponding to the recharging amount, such as an operation area, operation mileage, operation time, operation dosage, flight time, take-off times, recharging amount, and the like, otherwise, the user cannot control the agricultural plant protection unmanned aerial vehicle 100 to perform operations. After the user is charged, the agricultural plant protection unmanned aerial vehicle 100 performs operation according to the set operation information, the monitoring device in the agricultural plant protection unmanned aerial vehicle 100 can monitor the operation area while the operation is performed, the operation cost is calculated according to the operation area and the cost parameter, the operation cost is deducted from the charging balance in real time, when the balance after the operation cost is deducted is less than the preset amount, the agricultural plant protection unmanned aerial vehicle 100 can enter a locking state, and the agricultural plant protection unmanned aerial vehicle can be continuously used only after the user is charged again.
In an example embodiment, the control mode of the power plant 101 may be switched according to the total amount of the operation information performed by the agricultural plant protection unmanned aerial vehicle 100, where the total amount of the operation information is the sum of all the previous operation information amounts of the agricultural plant protection unmanned aerial vehicle 100, and when the total amount of the operation information is greater than or equal to a preset value, the control terminal of the agricultural plant protection unmanned aerial vehicle 100 sends an instruction to select the normal mode.
In an example embodiment, the flight controller 102 may obtain current operational information of the agricultural plant protection drone 100 in real time and update the locally stored operational information based on the current operational information. Specifically, the operated information may be stored in a local non-relational database, where the key value in the non-relational database is an operated time point, the value is the operated information corresponding to each operated time point, and when the operated time point is recorded, each operated time point may be separated by 1s, 3s, and the like, and each operated time point is separated by 1s, and the operated information is an operated area, for example, if the agricultural plant protection unmanned aerial vehicle 100 can spray 10 mu of farmland per second, the current operated information can be determined according to the specific spraying time, for example, the current operated information is cut off to 5s, the operated area of the agricultural plant protection unmanned aerial vehicle 100 is 50 mu, the current operated information is cut off to 10s, and the operated area of the agricultural plant protection unmanned aerial vehicle 100 is 100 mu, and so on. Further, in order to save storage space, new already-operated information may be used to replace old already-operated information, and the calculation unit in the flight controller 102 adds the already-operated information acquired in real time to the already-operated information acquired in real time at the previous time to obtain current already-operated information, and replaces the already-operated information acquired at the previous time stored locally by the current already-operated information.
In an example embodiment, the flight controller 102 may further obtain the total amount of the processed information of the agricultural plant protection unmanned aerial vehicle 100, and determine whether to enter the normal mode according to the total amount of the processed information, specifically, may compare the total amount of the processed information with a preset value, and when the total amount of the processed information of the agricultural plant protection unmanned aerial vehicle 100 is greater than or equal to the preset value, the control terminal will send an instruction for selecting the normal mode to the communication device 103, and the communication device 103 will send the instruction for selecting the normal mode to the flight controller 102, so that the flight controller 102 selects the normal mode according to the instruction for selecting the normal mode; accordingly, when the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle 100 is smaller than the preset value, the control terminal transmits an instruction for selecting the limiting mode to the communication device 103, and the communication device 103 transmits the instruction for selecting the limiting mode to the flight controller 102, so that the flight controller 102 selects the limiting mode according to the instruction for selecting the limiting mode.
In an example embodiment, in order to improve information security in the agricultural plant protection unmanned aerial vehicle 100, communication data in the agricultural plant protection unmanned aerial vehicle 100 may be encrypted or/and decrypted by a control terminal of the agricultural plant protection unmanned aerial vehicle 100 using different keys. Because the flight control system serial numbers (SN codes), the frame numbers and the medium access control addresses (MAC addresses) corresponding to different unmanned aerial vehicles are different, a secret key can be formed according to the information. In an example embodiment of the present disclosure, a unique key corresponding to the agricultural plant protection unmanned aerial vehicle 100 may be formed according to the SN code of the agricultural plant protection unmanned aerial vehicle 100, so that the control terminal may obtain the remaining amount of the operation information in each agricultural plant protection unmanned aerial vehicle according to the SN code of the different agricultural plant protection unmanned aerial vehicle 100, and the control terminal may further perform information interaction with the flight controller 102 through the key. Further, the encryption key may be generated according to the SN code of the agricultural plant protection unmanned aerial vehicle 100, and when the communication data is encrypted by the encryption key, the communication data may be symmetrically encrypted and/or asymmetrically encrypted, and when the encrypted communication data is decrypted, the communication data may be decrypted by adopting the inverse operation of the encryption algorithm, which is not described herein. Through setting up the secret key rather than unique correspondence to every agricultural plant protection unmanned aerial vehicle 100, can improve communication data's security, provide the guarantee for the normal use of agricultural plant protection unmanned aerial vehicle 100.
In an example embodiment, when the agricultural plant protection unmanned aerial vehicle 100 is activated, a user sends an activation request to a control terminal of the agricultural plant protection unmanned aerial vehicle 100 through a user terminal device; after receiving the activation request, the control terminal generates an activation instruction according to the activation request and sends the activation instruction to the flight controller 102; after receiving the activation instruction, the flight controller 102 activates the agricultural plant protection drone 100 according to the activation instruction. Before sending the activation instruction, the control terminal may encrypt the activation instruction by using a key generated according to the SN code, then send the encrypted activation instruction to the flight controller 102, decrypt the encrypted activation instruction according to the corresponding key after the flight controller 102 receives the encrypted activation instruction, and finally activate the agricultural plant protection unmanned aerial vehicle 100 according to the decrypted activation instruction.
In an example embodiment, the agricultural plant protection drone 100 may be periodically firmware upgraded, and the new version of firmware may be able to repair defects in the old version of firmware and add new functionality. When the firmware is updated, the flight controller 102 may obtain the firmware header information of the new version firmware, and match the firmware header information with the firmware information of the current agricultural plant protection unmanned aerial vehicle 100 to determine whether the firmware version of the current agricultural plant protection unmanned aerial vehicle 100 is the new version firmware. The firmware header information may include at least one of a firmware version number and a firmware type, and thus when determining the firmware version of the current agricultural plant protection unmanned aerial vehicle 100, the determination may be made according to the firmware version number and/or the firmware type in the firmware header information.
In an example embodiment, when the control mode of power plant 101 is the limit mode, flight controller 102 may determine whether flight controller 102 enters the locked state based on the user's operational information. Specifically, the remaining amount of the operation information may be obtained, where the operation information may specifically be at least one of an operation area, an operation mileage, an operation time, an operation dosage, a flight time, a takeoff number, and a recharge amount, and when the remaining amount of the operation information is equal to or less than a preset value, the flight controller 102 enters a lock state. Taking the operation information as an example of the operation area, the remaining amount of the operation area is 10 mu, the corresponding amount of money is 20 yuan, and the available amount of the current agricultural plant protection unmanned aerial vehicle 100 is 19 yuan, the control terminal sends a locking instruction to the flight controller 102, and the flight controller 102 enters a locking state according to the locking instruction to stop controlling the operation components of the agricultural plant protection unmanned aerial vehicle 100, such as a water pump, a spray head, a sprayer and the like, so as to perform the operation.
In an example embodiment, when the flight controller 102 enters the locked state, the flight controller 102 may control the power plant 101 not to generate takeoff power, i.e., the agricultural plant protection drone 100 enters the locked state; the flight controller 102 can also control the agricultural plant protection unmanned aerial vehicle 100 to return to the home immediately without any work; or, the flight controller 102 may send a locked prompt message to the remote controller of the agricultural plant protection unmanned aerial vehicle 100 to prompt the user to recharge in time, so as to ensure that the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information. It should be noted that, when the flight controller 102 enters the locked state, the flight controller 102 stops executing the operation plan, and only after the user reloads the operation information corresponding to the reloaded amount of money is greater than or equal to the remaining amount of the operation information, the operation plan can be re-executed.
FIG. 2 illustrates a flow diagram of a method of controlling an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 2, the control method of the agricultural plant protection unmanned aerial vehicle may include the steps of:
s20: receiving a selection request instruction of a control mode sent by a control terminal;
in an example embodiment, the execution subject of the method may be the flight controller 102, and the control terminal of the agricultural plant protection unmanned aerial vehicle 100 sends a selection request instruction of the control mode to the flight controller 102 electrically connected to the communication device 103 through the communication device 103.
In an example embodiment, the flight controller 102 may control a control mode of the power device 101, where the control mode includes a normal mode and a limiting mode, and specifically, the normal mode refers to a mode in which the agricultural plant protection unmanned aerial vehicle 100 is not limited by factors such as a recharging balance and an unmanned aerial vehicle manufacturer, and may perform corresponding operations according to a user's instruction; the limiting mode means that the agricultural plant protection unmanned aerial vehicle 100 is limited by factors such as recharging balance and unmanned aerial vehicle manufacturer, and cannot operate according to the instruction of the user, and the operation can be performed only after the instruction of the control terminal of the agricultural plant protection unmanned aerial vehicle 100 is received through the flight controller 102. The flight controller 102 may select a specific control mode according to the received selection request instruction of the control mode, and perform corresponding operations according to the specific control mode.
S22: selecting a common mode or a limiting mode according to the selection request instruction of the control mode;
in an example embodiment, the flight controller 102 may select a normal mode or a limited mode according to a selection request instruction of a control mode, and the selection request instruction transmitted by the control terminal of the agricultural plant protection unmanned aerial vehicle 100 changes according to a change of the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle 100, and when the total amount of the operated information is greater than or equal to a preset value, the control terminal transmits an instruction of the normal mode; when the total amount of the operated information is smaller than a preset value, the control terminal sends a command of limiting the mode. After receiving the instruction of the normal mode, the flight controller 102 can select the normal mode, and control the agricultural plant protection unmanned aerial vehicle 100 to operate according to the instruction of the user; after receiving the instruction of the limiting mode, the flight controller 102 may select the limiting mode, and after activating the agricultural plant protection unmanned aerial vehicle 100 according to the activation request of the user, control the agricultural plant protection unmanned aerial vehicle 100 to perform a corresponding operation according to the instruction of the control terminal.
S24: and controlling the power device to provide flight power according to the selected control mode.
In an example embodiment, the flight controller 102 may select different control modes according to which the power plant 101 in the agricultural plant protection unmanned aerial vehicle 100 is controlled to provide flight power or not. Specifically, when the control mode is the normal mode, the flight controller 102 may control the power device 101 to provide flight power according to the operation information set by the user, perform operations according to a preset route, such as fertilization, pesticide spraying, etc., and when the operations are completed, the flight controller 102 controls the power device 101 to stop providing flight power, and the operations are ended; when the control mode is a limiting mode, the flight controller 102 can operate according to the instruction of the control terminal of the agricultural plant protection unmanned aerial vehicle 100, and when the residual amount of operation information of a user is greater than a preset value, the flight controller 102 controls the power device 101 to provide flight power and operate according to a preset route; when the remaining amount of the operation information of the user is less than or equal to the preset value, the flight controller 102 controls the power device 101 to stop providing the flight power, stops controlling the operation components of the agricultural plant protection unmanned aerial vehicle 100, such as a water pump, a spray head, a spreader, and the like, to perform the operation, or controls the power device 101 to provide the flight power to ensure the return of the agricultural plant protection unmanned aerial vehicle 100.
FIG. 3 illustrates a flow diagram of a method of controlling an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 3, in step S30, the flight controller 102 acquires current already-worked information in real time; in step S32, the locally stored already-operated information is updated according to the current already-operated information; the operated information can be stored in a local non-relational database, wherein key values in the non-relational database are operated time points, value values are operated information corresponding to each operated time point, and current operated information can be obtained by adding the operated information corresponding to each operated time point; or adding the operation information obtained in real time with the operation information obtained in real time at the previous moment to obtain the current operation information, and replacing the operation information obtained at the previous moment stored locally by the current operation information; in step S34, the total amount of the already-worked information is acquired; wherein the total amount of the operated information is the sum of all the previous operated information of the agricultural plant protection unmanned aerial vehicle 100; in step S36, whether to enter the normal mode is determined according to the total amount of the already-operated information; in step S38, if the total amount of the operated information is greater than the preset value, entering a normal mode; if the total amount of the operated information is smaller than or equal to the preset value, entering a limiting mode.
FIG. 4 illustrates a flow diagram of a method of activating an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 4, in step S40, the flight controller 102 receives an activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection unmanned aerial vehicle 100 through the user terminal device; after receiving the activation request, the control terminal generates an activation instruction according to the activation request and sends the activation instruction to the flight controller 102; in step S42, the agricultural plant protection unmanned aerial vehicle 100 is activated according to the activation instruction.
Further, in step S40, before sending the activation instruction, the control terminal may encrypt the activation instruction by using a key generated according to the SN code, and then send the encrypted activation instruction to the flight controller 102; in step S42, after receiving the encrypted activation instruction, the flight controller 102 decrypts the encrypted activation instruction according to the corresponding key, and activates the agricultural plant protection unmanned aerial vehicle 100 according to the decrypted activation instruction.
In an example embodiment, the communication data in the agricultural plant protection unmanned aerial vehicle 100 may be encrypted or/and decrypted, and since the flight control system serial numbers (SN codes), rack numbers, and media access control addresses (MAC addresses) corresponding to different unmanned aerial vehicles are different, a key may be formed according to the information to encrypt or/and decrypt the communication data. In example embodiments of the present disclosure, a unique key corresponding to the agricultural plant protection drone 100 may be formed from the SN code of the agricultural plant protection drone 100. After the secret key is obtained, the control terminal can also obtain the residual amount of the operation information in the unmanned aerial vehicle according to the SN codes of different agricultural plant protection unmanned aerial vehicles 100, and can also perform information interaction with the flight controller 102 through the secret key. Further, the encryption key may be generated according to the SN code of the agricultural plant protection unmanned aerial vehicle 100, and when the communication data is encrypted by the encryption key, the communication data may be symmetrically encrypted and/or asymmetrically encrypted, and when the encrypted communication data is decrypted, the communication data may be decrypted by adopting the inverse operation of the encryption algorithm, which is not described herein. Through setting up the secret key rather than unique correspondence to every agricultural plant protection unmanned aerial vehicle 100, can improve communication data's security, provide the guarantee for the normal use of agricultural plant protection unmanned aerial vehicle 100.
In an example embodiment, the agricultural plant protection drone 100 may be periodically firmware upgraded, and the new version of firmware may be able to repair defects in the old version of firmware and add new functionality. When the firmware is updated, the flight controller 102 may obtain the firmware header information of the new version firmware, and match the firmware header information with the firmware information of the current agricultural plant protection unmanned aerial vehicle 100 to determine whether the firmware version of the current agricultural plant protection unmanned aerial vehicle 100 is the new version firmware. The firmware header information may include at least one of a firmware version number and a firmware type, and thus when determining the firmware version of the current agricultural plant protection unmanned aerial vehicle 100, the determination may be made according to the firmware version number and/or the firmware type in the firmware header information.
On the one hand, the agricultural plant protection unmanned aerial vehicle can generate a selection request instruction of a control mode according to the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle by a control terminal of the agricultural plant protection unmanned aerial vehicle, and send the selection request instruction of the control mode to the flight controller through the communication device, so that the flight controller selects a specific control mode corresponding to the selection request instruction, and controls the power device to provide flight power according to the specific control mode; on the one hand, the operation information of the agricultural plant protection unmanned aerial vehicle can be sent to the flight controller through the sensor, and the flight controller determines whether the agricultural plant protection unmanned aerial vehicle automatically exits the limiting mode according to the total amount of the operation information and enters the common mode.
Fig. 5 illustrates a schematic structural diagram of an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 5, an agricultural plant protection drone 500 in the present disclosure may include: the power device 501, the flight controller 502 and the sensor 503, specifically, the power device 501 is used for providing flight power for the agricultural plant protection unmanned aerial vehicle 500; a flight controller 502 electrically connected to the power device 501 for controlling the power device 502 to adjust the flight attitude; the sensor 503 is configured to obtain operation related information when the agricultural plant protection unmanned aerial vehicle 500 works, where the sensor 503 is in communication connection with the flight controller 502, and the flight controller 502 controls a control mode of the power device 501, including a normal mode and a limiting mode, and in the limiting mode, the flight controller 502 determines whether to control the power device 501 to provide flight power according to the operation information of a user; the flight controller 502 determines the operated information of the agricultural plant protection unmanned aerial vehicle 500 according to the operation related information acquired by the sensor 503; and the flight controller determines whether to automatically exit the limiting mode or not according to the total amount of the operated information and enters the common mode.
In an exemplary embodiment, the sensor 503 may be disposed on the body of the agricultural plant protection unmanned aerial vehicle 500, may be disposed in the flight controller 502, or may be disposed in other reasonable locations, which is not specifically limited in this disclosure. The sensor 503 can monitor operation related information of the agricultural plant protection unmanned aerial vehicle 500 in real time, such as operation mileage, operation area, operation time, operation dosage, flight time, take-off times, etc., and correspondingly, the sensor 503 can be various types of sensors, such as a distance sensor for detecting operation mileage, operation area, a time sensor for detecting operation time and flight time, a flow sensor for detecting operation dosage, and a speed sensor for detecting take-off times, and of course, can be other types of sensors, as long as corresponding operation information can be detected and acquired. After the sensor 503 detects and obtains the operation related information, the operation related information is sent to the flight controller 502 in real time, so that the flight controller 502 can automatically switch the control mode of the power device of the agricultural plant protection unmanned aerial vehicle 500 according to the total amount of the operated information.
In an example embodiment, after the flight controller 502 obtains the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle 500, the total amount of the operated information may be compared with a preset value, and when the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle 500 is greater than or equal to the preset value, the flight controller 502 controls the control mode of the power device 501 to be automatically switched to the normal mode; when the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle 500 is smaller than the preset value, the flight controller 502 controls the control mode of the power plant 501 to be automatically switched to the limiting mode. The total amount of the operated information is the sum of all the previous operated information amounts of the agricultural plant protection unmanned aerial vehicle 500.
In an example embodiment, the flight controller 502 may update the locally stored operated information according to the current operated information acquired in real time, and determine whether to automatically enter the normal mode according to the total amount of the operated information, where a specific implementation manner of updating the locally stored operated information by the flight controller 502 according to the current operated information acquired in real time is the same as that of acquiring the current operated information of the agricultural plant protection unmanned aerial vehicle 100 by the flight controller 102 in real time, and updating the locally stored operated information according to the current operated information, which is not described herein.
In an example embodiment, the flight controller 502 may receive the activation instruction, and activate the agricultural plant protection unmanned aerial vehicle 500 according to the activation instruction, further, the activation instruction may be encrypted and sent according to a key corresponding to the agricultural plant protection unmanned aerial vehicle 500, where the key may specifically be an SN code of the agricultural plant protection unmanned aerial vehicle 500, and a specific implementation manner of the flight controller 502 receiving the activation instruction, activating the agricultural plant protection unmanned aerial vehicle 500 according to the activation instruction, and encrypting and sending the activation instruction is the same as a specific implementation manner of the flight controller 102 receiving the activation instruction, activating the agricultural plant protection unmanned aerial vehicle 100 according to the activation instruction, and encrypting and sending the activation instruction is not repeated herein.
In an example embodiment, a unique key corresponding to the agricultural plant protection unmanned aerial vehicle 500 may be formed according to the SN code of the agricultural plant protection unmanned aerial vehicle 500, so that the control terminal may obtain the remaining amount of the operation information in the agricultural plant protection unmanned aerial vehicle 500 according to the SN code of the different agricultural plant protection unmanned aerial vehicle 500, and the control terminal may further perform information interaction with the flight controller 502 through the key. Further, the secret key may be generated according to the SN code of the agricultural plant protection unmanned aerial vehicle 500, and when the communication data is encrypted by the secret key, the communication data may be symmetrically encrypted and/or asymmetrically encrypted, and when the encrypted communication data is decrypted, the communication data may be decrypted by adopting inverse operation of an encryption algorithm, which is not described herein. Through setting up the secret key rather than unique correspondence to agricultural plant protection unmanned aerial vehicle 500, can improve communication data's security, provide the guarantee for the normal use of agricultural plant protection unmanned aerial vehicle 500.
In an example embodiment, the firmware of the agricultural plant protection unmanned aerial vehicle 500 may be updated periodically, and whether the firmware version of the current agricultural plant protection unmanned aerial vehicle is determined according to the firmware header information, and a specific implementation manner of the firmware updating of the agricultural plant protection unmanned aerial vehicle 100 is the same as that of the firmware version of the current agricultural plant protection unmanned aerial vehicle according to the firmware header information, so that a detailed description thereof will not be given here.
In an example embodiment, when the flight controller 502 determines that the control mode is the limit mode according to the total amount of the already-worked information, the flight controller 502 may determine whether the flight controller 502 enters the lock state according to the remaining amount of the worked information of the user, specifically, may compare the remaining amount of the worked information with a preset value, and when the remaining amount of the worked information is equal to or less than the preset value, the flight controller 502 enters the lock state. When the flight controller 502 enters the locked state, the flight controller 502 can control the power device 501 not to generate take-off power, i.e. the agricultural plant protection unmanned aerial vehicle 500 enters the locked state; the flight controller 502 can also control the agricultural plant protection unmanned aerial vehicle 500 to return to the home immediately without any work; or, the flight controller 502 may send a locked prompt message to the remote controller of the agricultural plant protection unmanned aerial vehicle 500, so as to prompt the user to recharge in time, and ensure that the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information. When the flight controller 502 enters the locked state, the flight controller 502 may immediately stop executing the operation plan, and the operation plan may be re-executed only when the user is re-charged and the operation information corresponding to the charged amount is equal to or greater than the remaining amount of the operation information.
FIG. 6 illustrates a flow diagram of a method of controlling an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 6, the control method of the agricultural plant protection unmanned aerial vehicle may include the steps of:
s60: acquiring operation related information acquired by a sensor;
in an example embodiment, the subject of execution of the method may be the flight controller 502, and the sensor 503 may send detected operation-related information to the flight controller 502, where the operation-related information may be information related to an operation set by a user, such as an operation mileage, an operation area, an operation time, an operation dosage, an operation time, a take-off time, a recharge amount, and the like. The sensor 503 may be disposed on the body of the agricultural plant protection unmanned aerial vehicle 500, or may be disposed in the flight controller 502, or may be disposed at other reasonable positions, which is not specifically limited in the present disclosure, and the sensor 503 may be various types of sensors for acquiring various different operation information.
S62: determining the operated information of the agricultural plant protection unmanned aerial vehicle according to the operation related information;
in an example embodiment, after the flight controller 502 obtains the operation related information, the already-operated information of the agricultural plant protection unmanned aerial vehicle may be determined according to the operation related information, for example, the sensor 503 may send the operation information to the flight controller 502 as an operation area of 10 mu in the first second, send the operation information to the flight controller 502 as an operation area of 9 mu in the second, send the operation information to the flight controller 502 as an operation area of 10 mu in the third second, and then the flight controller 502 may determine that the already-operated area of the agricultural plant protection unmanned aerial vehicle 500 is 29 mu in the third second.
S64: determining whether to automatically exit a limiting mode or not according to the total amount of the operated information, and entering a common mode; wherein in the limiting mode, whether the power device is controlled to provide flight power is determined according to the operation information of the user.
In an example embodiment, flight controller 502 may determine whether to automatically exit the restricted mode and enter the normal mode based on a magnitude relationship between the total amount of information already worked and a preset value. When the total amount of the operated information is greater than or equal to a preset value, automatically exiting the limiting mode and entering the common mode; when the total amount of the operation information is smaller than the preset value, the limiting mode is still maintained, further, when the control mode of the power device controlled by the flight controller 502 is the limiting mode, the residual amount of the operation information of the user can be obtained, whether the operation information enters a locking state is determined according to the magnitude relation between the residual amount of the operation information and another preset value, and when the residual amount of the operation information is smaller than or equal to the other preset value, the operation information enters the locking state, the power device can be controlled to not provide flight power, or the flight power is provided to ensure that the agricultural plant protection unmanned aerial vehicle 500 returns to the navigation without operation. Further, when the flight controller 502 enters the locked state, a locked prompt message may be sent to the remote controller of the agricultural plant protection unmanned aerial vehicle 500 to remind the user to recharge.
In an example embodiment, flight controller 502 may obtain current worked information in real-time, update locally stored worked information based on the current worked information; and then acquiring the total amount of the operated information, determining whether to automatically exit the limiting mode or not according to the total amount of the operated information, and entering the normal mode. The specific embodiment of the control method of the agricultural plant protection unmanned aerial vehicle is the same as the specific embodiment of the control method of the agricultural plant protection unmanned aerial vehicle shown in fig. 3, and will not be described herein.
In an example embodiment, a unique key corresponding to the agricultural plant protection drone 500 may be formed from the SN code of the agricultural plant protection drone 500. After the secret key is obtained, the control terminal can obtain the residual amount of the operation information in the unmanned aerial vehicle according to the SN codes of different agricultural plant protection unmanned aerial vehicles 500, can encrypt and/or decrypt the communication data according to the secret key, and can also interact with the flight controller 502 through the secret key. Further, the secret key may be generated according to the SN code of the agricultural plant protection unmanned aerial vehicle 500, and when the communication data is encrypted by the secret key, the communication data may be symmetrically encrypted and/or asymmetrically encrypted, and when the encrypted communication data is decrypted, the communication data may be decrypted by adopting inverse operation of an encryption algorithm, which is not described herein. Through setting up the secret key rather than unique correspondence to every agricultural plant protection unmanned aerial vehicle 500, can improve communication data's security, provide the guarantee for the normal use of agricultural plant protection unmanned aerial vehicle 500.
Further, when the agricultural plant protection unmanned aerial vehicle 500 is activated, the activation instruction sent by the control terminal of the agricultural plant protection unmanned aerial vehicle 500 may be encrypted by a key and then sent to the flight controller 502.
FIG. 7 illustrates a flow diagram of a method of activating an agricultural plant protection drone, according to some embodiments of the present disclosure.
Referring to fig. 7, in step S70, the flight controller 502 receives an encrypted activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection unmanned aerial vehicle 500 through the user terminal device; after receiving the activation request, the control terminal generates an activation instruction according to the activation request, encrypts the activation instruction by adopting a secret key generated according to the SN code, and then sends the encrypted activation instruction to the flight controller 502; in step S72, the encrypted activation instruction is decrypted to obtain an activation instruction, and the agricultural plant protection unmanned aerial vehicle 500 is activated according to the activation instruction; after receiving the encrypted activation instruction, the flight controller 502 decrypts the received encrypted activation instruction according to the corresponding key, and activates the agricultural plant protection unmanned aerial vehicle 500 according to the decrypted activation instruction.
In an example embodiment, the firmware of the agricultural plant protection unmanned aerial vehicle 500 may be updated periodically, and whether the firmware version of the current agricultural plant protection unmanned aerial vehicle is determined according to the firmware header information, and the specific implementation manner of the firmware updating of the agricultural plant protection unmanned aerial vehicle 100 is the same as that of the firmware version of the current agricultural plant protection unmanned aerial vehicle according to the firmware header information, which is not described herein.
According to the agricultural plant protection unmanned aerial vehicle and the control method thereof, the control mode of the power device of the agricultural plant protection unmanned aerial vehicle can be switched through the flight controller according to specific operation information, so that the remote control of the use authority of the unmanned aerial vehicle by an agricultural plant protection unmanned aerial vehicle manufacturer is facilitated; and when the control mode of the power device is set to be a common mode and a limiting mode, a user can use the agricultural plant protection unmanned aerial vehicle to carry out agricultural operation in a way of recharging in a separate way when the control mode of the unmanned aerial vehicle is in the limiting mode, so that the cost of one-time purchase of the user is reduced, and when the total amount of the operation of the agricultural plant protection unmanned aerial vehicle reaches a certain value, the control mode of the agricultural plant protection unmanned aerial vehicle can be converted into the common mode, and the control mode is not limited by manufacturers, so that the user experience is further improved.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (76)

1. An agricultural plant protection unmanned aerial vehicle, characterized by comprising:
the power device is used for providing flight power for the agricultural plant protection unmanned aerial vehicle;
the flight controller is electrically connected with the power device and used for controlling the power device to adjust the flight attitude; and
the communication device is used for being in communication connection with the control terminal of the agricultural plant protection unmanned aerial vehicle, the communication device is electrically connected with the flight controller,
the flight controller controls the control mode of the power device, wherein the control mode comprises a common mode and a limiting mode, and in the limiting mode, the flight controller determines whether to enter a locking state according to the operation information of a user;
the communication device sends a selection request instruction of a control mode sent by the control terminal to the flight controller; if the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle is larger than or equal to a preset value, the control terminal sends an instruction for selecting the common mode;
The flight controller selects the common mode or the limiting mode according to a selection request instruction of the control mode;
the flight controller controls the power device to provide flight power according to the selected control mode.
2. The agricultural plant protection drone of claim 1, wherein, when upgrading firmware, the flight controller determines whether it is a current firmware version of the agricultural plant protection drone based on firmware header information of the firmware.
3. The agricultural plant protection drone of claim 2, wherein the flight controller determines whether it is a current firmware version of the agricultural plant protection drone according to a firmware version number in firmware header information of the firmware.
4. The agricultural plant protection drone of claim 2, wherein the firmware header information includes at least one of: firmware version number, firmware type.
5. The agricultural plant protection unmanned aerial vehicle according to claim 1, wherein the control terminal obtains the remaining amount of the operation information according to the SN code of the agricultural plant protection unmanned aerial vehicle.
6. The agricultural plant protection unmanned aerial vehicle according to claim 5, wherein the SN code corresponds to a unique key, and the control terminal obtains the remaining amount of the job information through the key.
7. The agricultural plant protection unmanned aerial vehicle of claim 5, wherein the SN code corresponds to a unique key, and the control terminal performs information interaction with the flight controller through the key.
8. The agricultural plant protection drone of claim 1, wherein the flight controller encrypts or decrypts communication data via a key, the SN code of the agricultural plant protection drone corresponding to the unique key.
9. The agricultural plant protection drone of claim 1, wherein the flight controller is further to:
acquiring current operated information in real time;
and updating the locally stored operated information according to the current operated information.
10. The agricultural plant protection drone of claim 9, wherein the flight controller is further to:
acquiring the total amount of the operated information, wherein the total amount of the operated information is the sum of all the past operated information amounts of the agricultural plant protection unmanned aerial vehicle;
and determining whether to enter the normal mode according to the total amount of the operated information.
11. The agricultural plant protection drone of claim 1, wherein,
the control terminal receives an activation request of a user and generates an activation instruction according to the activation request;
And the flight controller activates the unmanned aerial vehicle according to the activation instruction.
12. The agricultural plant protection unmanned aerial vehicle according to claim 11, wherein the control terminal encrypts and transmits the activation instruction through a key corresponding to the unmanned aerial vehicle.
13. The agricultural plant protection drone of claim 11, wherein the flight controller decrypts the encrypted activation instructions and activates the drone according to the decrypted activation instructions.
14. The agricultural plant protection drone of claim 1, wherein the job information of the user includes at least one of: operating mileage, operating area, operating time, operating dosage, flight time, take-off times, and recharge amount.
15. The agricultural plant protection unmanned aerial vehicle of claim 1, wherein the flight controller enters the locked state if a remaining amount of the operation information is equal to or less than a preset value.
16. The agricultural plant protection drone of claim 15, wherein, in the locked state, the flight controller stops controlling the working components of the agricultural plant protection drone to perform work.
17. The agricultural plant protection drone of claim 16, wherein the working component includes at least one of: a water pump, a spray head and a sowing device.
18. The agricultural plant protection drone of claim 15, wherein, in the locked state, the flight controller controls the power plant to not generate takeoff power;
or when the unmanned aerial vehicle is in the locking state, the flight controller controls the agricultural plant protection unmanned aerial vehicle to return to the home immediately;
or when the locking state is achieved, the flight controller sends locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle;
or wherein, in the locked state, the flight controller stops executing the mission plan.
19. A method of controlling an agricultural plant protection unmanned aerial vehicle, the method comprising:
receiving a selection request instruction of a control mode sent by a control terminal;
selecting a common mode or a limiting mode according to the selection request instruction of the control mode; if the total amount of the operated information of the agricultural plant protection unmanned aerial vehicle is larger than or equal to a preset value, the control terminal sends an instruction for selecting the common mode;
and controlling the power device to provide flight power according to the selected control mode.
20. The method for controlling an agricultural plant protection drone of claim 19, further comprising:
And when the firmware is upgraded, determining whether the firmware is the current firmware version of the agricultural plant protection unmanned aerial vehicle according to the firmware header information of the firmware.
21. The method for controlling an agricultural plant protection drone of claim 20, further comprising:
and determining whether the firmware version of the agricultural plant protection unmanned aerial vehicle is the current firmware version according to the firmware version number in the firmware header information of the firmware.
22. The method of controlling an agricultural plant protection drone of claim 20, wherein the firmware header information includes at least one of: firmware version number, firmware type.
23. The control method of an agricultural plant protection unmanned aerial vehicle according to claim 19, wherein the control terminal obtains the remaining amount of the operation information according to the SN code of the agricultural plant protection unmanned aerial vehicle.
24. The control method of the agricultural plant protection unmanned aerial vehicle according to claim 23, wherein the SN code corresponds to a unique key, and the control terminal obtains the remaining amount of the job information through the key.
25. The method for controlling an agricultural plant protection unmanned aerial vehicle according to claim 23, wherein the SN code corresponds to a unique key, and information interaction is performed with the control terminal through the key.
26. The method for controlling an agricultural plant protection drone of claim 19, further comprising:
and encrypting or/and decrypting the communication data through a secret key, wherein the SN code of the agricultural plant protection unmanned aerial vehicle corresponds to the unique secret key.
27. The method for controlling an agricultural plant protection drone of claim 19, further comprising:
acquiring current operated information in real time;
and updating the locally stored operated information according to the current operated information.
28. The method for controlling an agricultural plant protection drone of claim 27, further comprising:
acquiring the total amount of the operated information, wherein the total amount of the operated information is the sum of all the past operated information amounts of the agricultural plant protection unmanned aerial vehicle;
and determining whether to enter the normal mode according to the total amount of the operated information.
29. The method for controlling an agricultural plant protection drone of claim 19, wherein,
receiving an activation instruction;
and activating the unmanned aerial vehicle according to the activation instruction.
30. The method for controlling an agricultural plant protection unmanned aerial vehicle according to claim 29, wherein the control terminal generates the activation instruction according to an activation request of a user, and encrypts and transmits the activation instruction through a key corresponding to the unmanned aerial vehicle.
31. The method for controlling an agricultural plant protection drone of claim 29, further comprising:
and decrypting the encrypted activation instruction, and activating the unmanned aerial vehicle according to the decrypted activation instruction.
32. The method of controlling an agricultural plant protection drone of claim 23, wherein the job information includes at least one of: operating mileage, operating area, operating time, operating dosage, flight time, take-off times, and recharge amount.
33. The control method of an agricultural plant protection unmanned aerial vehicle according to claim 23, wherein if the remaining amount of the job information is equal to or less than a preset value, a lock state is entered.
34. The method of claim 33, wherein in the locked state, stopping controlling the work components of the agricultural plant protection drone to perform work.
35. The method of controlling an agricultural plant protection drone of claim 34, wherein the work component includes at least one of: a water pump, a spray head and a sowing device.
36. The method of controlling an agricultural plant protection drone of claim 33, wherein, in the locked state, the power plant is controlled to not generate takeoff power;
Or when the locking state is adopted, controlling the agricultural plant protection unmanned aerial vehicle to return to the home immediately;
or when the system is in the locking state, sending the locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle;
or, in the locked state, stopping executing the job plan.
37. An agricultural plant protection unmanned aerial vehicle, characterized by comprising:
the power device is used for providing flight power for the agricultural plant protection unmanned aerial vehicle;
the flight controller is electrically connected with the power device and used for controlling the power device to adjust the flight attitude; and
a sensor for acquiring operation related information when the agricultural plant protection unmanned aerial vehicle works, the sensor is in communication connection with the flight controller,
the flight controller controls the control mode of the power device, wherein the control mode comprises a common mode and a limiting mode, and in the limiting mode, the flight controller determines whether to control the power device to provide flight power according to operation information of a user;
the flight controller determines the operated information of the agricultural plant protection unmanned aerial vehicle according to the operation related information acquired by the sensor;
and the flight controller determines whether to automatically exit the limiting mode or not according to the total amount of the operated information and enters a common mode.
38. The agricultural plant protection drone of claim 37, wherein the normal mode is automatically entered if the total amount of worked information is greater than or equal to a preset value.
39. The agricultural plant protection drone of claim 37, wherein, when upgrading firmware, the flight controller determines whether it is a current firmware version of the agricultural plant protection drone based on firmware header information of the firmware.
40. The agricultural plant protection drone of claim 39, wherein the flight controller determines whether the firmware version of the agricultural plant protection drone is currently based on a firmware version number in firmware header information of the firmware.
41. The agricultural plant protection drone of claim 39, wherein the firmware header information includes at least one of: firmware version number, firmware type.
42. The agricultural plant protection drone of claim 37, wherein the control terminal of the agricultural plant protection drone obtains a remaining amount of the operation information according to an SN code of the agricultural plant protection drone.
43. An agricultural plant protection unmanned aerial vehicle according to claim 42, wherein the SN corresponds to a unique key, and the control terminal obtains the remaining amount of the job information through the key.
44. An agricultural plant protection unmanned aerial vehicle according to claim 42, wherein the SN corresponds to a unique key, and the control terminal performs information interaction with the flight controller through the key.
45. The agricultural plant protection drone of claim 37, wherein the flight controller encrypts or decrypts communication data with a key, the SN code of the agricultural plant protection drone corresponding to the unique key.
46. The agricultural plant protection drone of claim 37, wherein the flight controller is further to:
acquiring current operated information in real time;
and updating the locally stored operated information according to the current operated information.
47. The agricultural plant protection drone of claim 46, wherein the flight controller is further to:
acquiring the total amount of the operated information, wherein the total amount of the operated information is the sum of all the past operated information amounts of the agricultural plant protection unmanned aerial vehicle;
and determining whether to automatically enter the common mode according to the total amount of the operated information.
48. The agricultural plant protection drone of claim 47, wherein the normal mode is automatically entered if the total amount of worked information is greater than a preset amount.
49. The agricultural plant protection drone of claim 37, wherein,
the control terminal of the agricultural plant protection unmanned aerial vehicle receives an activation request of a user and generates an activation instruction according to the activation request;
and the flight controller activates the unmanned aerial vehicle according to the activation instruction.
50. The agricultural plant protection drone of claim 49, wherein the control terminal encrypts the activation instruction to be sent by a key corresponding to the drone.
51. The agricultural plant protection drone of claim 49, wherein the flight controller decrypts the encrypted activation instructions and activates the drone according to the decrypted activation instructions.
52. The agricultural plant protection drone of claim 37, wherein the job information includes at least one of: operating mileage, operating area, operating time, operating dosage, flight time, take-off times, and recharge amount.
53. The agricultural plant protection drone of claim 37, wherein the locked state is entered if a remaining amount of the job information is less than or equal to a preset value.
54. An agricultural plant protection drone according to claim 53, wherein, in the locked state, the flight controller stops controlling the working components of the agricultural plant protection drone to perform work.
55. An agricultural plant protection unmanned aerial vehicle according to claim 54, wherein the working component comprises at least one of: a water pump, a spray head and a sowing device.
56. An agricultural plant protection unmanned aerial vehicle according to claim 53, wherein in the locked state, the power device is controlled to not generate take-off power;
or when the locking state is adopted, controlling the agricultural plant protection unmanned aerial vehicle to return to the home immediately;
or when the system is in the locking state, sending the locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle;
or, in the locked state, stopping executing the job plan.
57. A method of controlling an agricultural plant protection unmanned aerial vehicle, the method comprising:
acquiring operation related information acquired by a sensor;
determining the operated information of the agricultural plant protection unmanned aerial vehicle according to the operation related information;
determining whether to automatically exit a limiting mode or not according to the total amount of the operated information, and entering a common mode; wherein in the limiting mode, whether the power device is controlled to provide flight power is determined according to the operation information of the user.
58. The method according to claim 57, wherein the normal mode is automatically entered if the total amount of the worked information is equal to or greater than a preset value.
59. The method for controlling an agricultural plant protection drone of claim 57, further comprising:
and when the firmware is upgraded, determining whether the firmware is the current firmware version of the agricultural plant protection unmanned aerial vehicle according to the firmware header information of the firmware.
60. The method for controlling an agricultural plant protection drone of claim 59, further comprising:
and determining whether the firmware version of the agricultural plant protection unmanned aerial vehicle is the current firmware version according to the firmware version number in the firmware header information of the firmware.
61. The method of controlling an agricultural plant protection drone of claim 59, wherein the firmware header information includes at least one of: firmware version number, firmware type.
62. The method for controlling an agricultural plant protection drone according to claim 57, wherein the control terminal of the agricultural plant protection drone obtains the remaining amount of the operation information according to the SN code of the agricultural plant protection drone.
63. The method for controlling an agricultural plant protection unmanned aerial vehicle according to claim 62, wherein the SN code corresponds to a unique key, and the control terminal obtains the remaining amount of the job information from the key.
64. The method for controlling an agricultural plant protection unmanned aerial vehicle according to claim 62, wherein the SN code corresponds to a unique key, and information interaction is performed with the control terminal through the key.
65. The method for controlling an agricultural plant protection drone of claim 57, further comprising:
and encrypting or/and decrypting the communication data through a secret key, wherein the SN code of the agricultural plant protection unmanned aerial vehicle corresponds to the unique secret key.
66. The method for controlling an agricultural plant protection drone of claim 57, further comprising:
acquiring current operated information in real time;
and updating the locally stored operated information according to the current operated information.
67. The method for controlling an agricultural plant protection drone of claim 66, further comprising:
acquiring the total amount of the operated information, wherein the total amount of the operated information is the sum of all the past operated information amounts of the agricultural plant protection unmanned aerial vehicle;
and determining whether to automatically enter the common mode according to the total amount of the operated information.
68. The method of claim 67, wherein the normal mode is automatically entered if the total amount of the worked information is greater than a predetermined amount.
69. The method for controlling an agricultural plant protection drone of claim 57, wherein,
receiving an activation instruction;
and activating the unmanned aerial vehicle according to the activation instruction.
70. The method for controlling an agricultural plant protection drone according to claim 69, wherein the control terminal of the agricultural plant protection drone generates the activation instruction according to an activation request of a user, and encrypts and transmits the activation instruction through a key corresponding to the drone.
71. The method for controlling an agricultural plant protection drone of claim 69, further comprising:
and decrypting the encrypted activation instruction, and activating the unmanned aerial vehicle according to the decrypted activation instruction.
72. The method for controlling an agricultural plant protection drone of claim 57, wherein the user job information includes at least one of: operating mileage, operating area, operating time, operating dosage, flight time, take-off times, and recharge amount.
73. The method according to claim 57, wherein the locked state is entered if a remaining amount of the job information is equal to or less than a preset value.
74. The method of claim 73, wherein in the locked state, the controlling of the work components of the agricultural plant protection drone is stopped.
75. The method of controlling an agricultural plant protection drone of claim 74, wherein the work component includes at least one of: a water pump, a spray head and a sowing device.
76. The method of controlling an agricultural plant protection drone according to claim 73, wherein, in the locked state, the power plant is controlled to not generate takeoff power;
or when the locking state is adopted, controlling the agricultural plant protection unmanned aerial vehicle to return to the home immediately;
or when the system is in the locking state, sending the locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle;
or, in the locked state, stopping executing the job plan.
CN201880067326.2A 2018-12-04 2018-12-04 Agricultural plant protection unmanned aerial vehicle and control method thereof Active CN111344225B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311205342.2A CN117055436A (en) 2018-12-04 2018-12-04 Unmanned aerial vehicle and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/119235 WO2020113443A1 (en) 2018-12-04 2018-12-04 Agricultural plant protection unmanned aerial vehicle and control method for agricultural plant protection unmanned aerial vehicle

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202311205342.2A Division CN117055436A (en) 2018-12-04 2018-12-04 Unmanned aerial vehicle and control method thereof

Publications (2)

Publication Number Publication Date
CN111344225A CN111344225A (en) 2020-06-26
CN111344225B true CN111344225B (en) 2023-10-13

Family

ID=70975293

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202311205342.2A Pending CN117055436A (en) 2018-12-04 2018-12-04 Unmanned aerial vehicle and control method thereof
CN201880067326.2A Active CN111344225B (en) 2018-12-04 2018-12-04 Agricultural plant protection unmanned aerial vehicle and control method thereof

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202311205342.2A Pending CN117055436A (en) 2018-12-04 2018-12-04 Unmanned aerial vehicle and control method thereof

Country Status (2)

Country Link
CN (2) CN117055436A (en)
WO (1) WO2020113443A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112956310B (en) * 2021-02-09 2022-01-14 中国矿业大学(北京) Air-seeding bioremediation method for coal mining subsidence area
CN113247265B (en) * 2021-06-28 2021-12-21 泗县汉和智能装备科技有限公司 Plant protection unmanned aerial vehicle pesticide accurate spraying system based on big data

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10337146A (en) * 1997-06-09 1998-12-22 Yamaha Motor Co Ltd System for spraying pesticide
CN106251129A (en) * 2016-08-02 2016-12-21 上海圣尧智能科技有限公司 A kind of operating cost calculates payment mechanism, system and method
CN106714554A (en) * 2016-04-29 2017-05-24 深圳市大疆创新科技有限公司 Spraying control method of drone and drone
CN107004344A (en) * 2016-11-23 2017-08-01 深圳市大疆创新科技有限公司 Unmanned vehicle control method, server and remote control
CN107765709A (en) * 2016-08-22 2018-03-06 广州亿航智能技术有限公司 The method and device of self-timer is realized based on aircraft
CN107792383A (en) * 2017-10-19 2018-03-13 珠海羽人农业航空有限公司 Flow-type shares agriculture unmanned plane service station

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7835824B2 (en) * 2006-09-06 2010-11-16 Matos Jeffrey A Systems and methods for detecting and managing the unauthorized use of a unmanned aircraft
CN104615143B (en) * 2015-01-23 2017-05-24 广州快飞计算机科技有限公司 Unmanned aerial vehicle scheduling method
CN104809918B (en) * 2015-05-27 2017-07-28 张忠义 A kind of unmanned plane during flying management method
CN109032191A (en) * 2015-07-03 2018-12-18 深圳市大疆灵眸科技有限公司 Cloud platform control method and holder
CN105139693A (en) * 2015-07-28 2015-12-09 顺丰科技有限公司 Unmanned aerial vehicle monitoring method and unmanned aerial vehicle management platform
CN105761550A (en) * 2016-03-01 2016-07-13 北京航空航天大学 Unmanned aerial vehicle (UAV) air operation security control method, UAV and server
CN106716286B (en) * 2016-09-27 2018-10-16 深圳市大疆创新科技有限公司 control method, control device, remote control system and unmanned aerial vehicle control system
CN106406189A (en) * 2016-11-28 2017-02-15 中国农业大学 Electric fence monitoring method for unmanned aerial vehicle plant protecting operations

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10337146A (en) * 1997-06-09 1998-12-22 Yamaha Motor Co Ltd System for spraying pesticide
CN106714554A (en) * 2016-04-29 2017-05-24 深圳市大疆创新科技有限公司 Spraying control method of drone and drone
CN106251129A (en) * 2016-08-02 2016-12-21 上海圣尧智能科技有限公司 A kind of operating cost calculates payment mechanism, system and method
CN107765709A (en) * 2016-08-22 2018-03-06 广州亿航智能技术有限公司 The method and device of self-timer is realized based on aircraft
CN107004344A (en) * 2016-11-23 2017-08-01 深圳市大疆创新科技有限公司 Unmanned vehicle control method, server and remote control
CN107792383A (en) * 2017-10-19 2018-03-13 珠海羽人农业航空有限公司 Flow-type shares agriculture unmanned plane service station

Also Published As

Publication number Publication date
CN117055436A (en) 2023-11-14
WO2020113443A1 (en) 2020-06-11
CN111344225A (en) 2020-06-26

Similar Documents

Publication Publication Date Title
CN111344225B (en) Agricultural plant protection unmanned aerial vehicle and control method thereof
US10431997B2 (en) Computerized information system for smart grid integrated electric vehicle charging and associated method
CN108367691B (en) Dynamic communication of actual charging power
US10901408B2 (en) System for monitoring functions of a work machine
US20190049984A1 (en) Automatic Working System and Control Method Thereof
EP2590077B1 (en) Control device
CN106302500A (en) A kind of onboard system application account information management-control method and system
CN106559566A (en) A kind of intelligent control method and system of automobile value-added service
CN105438125B (en) Car locking function control method and device
WO2022038980A1 (en) Positioning device, work vehicle, positioning method, and positioning program
CN109333952B (en) Management method and device of injection molding machine
CN110147409A (en) Method, equipment and the medium of battery information for enquiring vehicle
CN113391837A (en) Battery replacement station management system, and firmware upgrading method and device of battery management system
CN110839207A (en) Navigation method, device, system, computer equipment and storage medium
US11733719B2 (en) User access management for dispensing particulate material
CN113343641B (en) Equipment identification method, device, system and cloud server
RU2658348C1 (en) Device, method, mobile terminal and computer software for supplying users with electric energy
EP3776107A1 (en) Improved serviceability for a robotic working tool
CN108039760A (en) A kind of Distributed Intelligence charging system based on big data cloud platform remote management
KR101727749B1 (en) Reservation method for upgrading software in digital apparatus and digital apparatus using the same
CN113538777A (en) Authorization method, intelligent container, server and computer storage medium
CN114186746A (en) Shared charging pile self-service charging system and shared charging pile recommendation method
CN111433695A (en) Agricultural plant protection unmanned aerial vehicle and control method thereof
CN112466047A (en) Dual offline vehicle management method and related device
KR102485322B1 (en) Method for providing Car-Sharing

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant