CN111744690B - Spraying operation control method, device, carrier and storage medium - Google Patents

Spraying operation control method, device, carrier and storage medium Download PDF

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Publication number
CN111744690B
CN111744690B CN202010478023.9A CN202010478023A CN111744690B CN 111744690 B CN111744690 B CN 111744690B CN 202010478023 A CN202010478023 A CN 202010478023A CN 111744690 B CN111744690 B CN 111744690B
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spraying
spray
target
confirmed
carrier
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CN111744690A (en
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苏家豪
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Priority to CN202010478023.9A priority Critical patent/CN111744690B/en
Priority to PCT/CN2020/110300 priority patent/WO2021237957A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/18—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with elements moving in a straight line, e.g. along a track; Mobile sprinklers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The spraying operation control method, the device, the carrier and the storage medium provided by the embodiment of the invention can determine a target spraying object through a spraying object to be confirmed in a spraying range, further determine a spraying strategy for the target spraying object, realize accurate spraying of the target spraying object and improve the spraying operation effect, and the method comprises the following steps: when the spraying object to be confirmed exists in the spraying range, whether the spraying object to be confirmed is the target spraying object is confirmed according to the current position of the carrier; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; if so, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object; the spraying strategy represents a spraying angle of the spraying module matched with the position of the target spraying object; and controlling the spraying module to perform spraying operation on the target spraying object according to the spraying strategy.

Description

Spraying operation control method, device, carrier and storage medium
Technical Field
The invention relates to the field of automatic control, in particular to a spraying operation control method, a spraying operation control device, a spraying operation carrier and a storage medium.
Background
Along with the development of science and technology, traditional type agricultural production management mode is replaced by mechanized, information-based mode gradually, adopts the machine to spray the operation and has in spraying efficient, can the accurate control characteristics such as volume of spraying, can increase substantially the operating efficiency and the precision of agriculture and forestry vegetation.
At present, a common mechanical spraying operation mode is to control a working machine to travel to the vicinity of a work object, then determine a spraying point of the work object according to the contour or size information of the work object, and finally perform a spraying operation according to the determined spraying point.
The inventor finds that the process has the defects that when the spraying point is determined near the work object, the part of the spraying position of the work object is easy to omit due to the large size of the work object, so that the uniform spraying on the work object cannot be realized, and the spraying effect is reduced.
Disclosure of Invention
In view of the above, the present invention provides a spraying operation control method, device, carrier and storage medium, which are used to achieve the purpose of uniformly spraying a work object and improve the spraying effect.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a spraying operation control method, applied to a spraying controller of a spraying operation control device, where the spraying operation control device is disposed on a carrier, and the spraying controller is electrically connected to a spraying module of the spraying operation control device; the method comprises the following steps: when spraying objects to be confirmed exist in the spraying range, confirming whether the spraying objects to be confirmed are target spraying objects or not according to the current position of the carrier; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; if so, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object; the spray strategy characterizes a spray angle at which the spray module matches the position of the target spray; controlling the spray module to perform a spray operation on the target spray according to the spray strategy.
Optionally, the spraying range represents a spherical area centered on the current position of the vehicle and having the spraying width of the spraying module as a radius; when spraying objects to be confirmed exist in the spraying range, confirming whether the spraying objects to be confirmed are target spraying objects according to the current position of the carrier: and when the spraying object to be confirmed exists in the spherical area, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
Optionally, the spray area is an ellipsoid area; the major radius of the ellipsoid region is a horizontal spraying amplitude and the minor radius is a vertical spraying amplitude, or the major radius of the ellipsoid region is a vertical spraying amplitude and the minor radius is a horizontal spraying amplitude; when the spraying object to be confirmed exists in the spraying range, the step of confirming whether the spraying object to be confirmed is the target spraying object or not according to the current position of the carrier comprises the following steps: and when the spraying object to be confirmed exists in the ellipsoidal region, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
Optionally, when there is a spray to be confirmed in the spraying range, the step of confirming whether the spray to be confirmed is a target spray according to the current position of the carrier includes: when the spraying object to be confirmed exists in the spraying range, confirming whether a preset spraying object position matched with the current position of the carrier exists or not; and if so, taking the preset spraying object position as the target spraying object.
Optionally, if so, the step of determining the spraying strategy according to the current position of the vehicle and the position of the target spraying object includes: if so, when the target spraying object is in a non-spraying state, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
Optionally, the step of determining a spraying strategy according to the current position of the vehicle and the position of the target spraying object when the target spraying object is in a non-spraying state includes: confirming whether the spraying state corresponding to the position of the target spraying object is not sprayed; if so, determining that the target spraying object is in the non-spraying state; and determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
Optionally, after the step of controlling the spraying module to perform the spraying operation on the target spraying object according to the spraying strategy, the method further comprises: and configuring the target spraying point to be in a sprayed state.
Optionally, the step of configuring the target spraying point to be in a sprayed state includes: and acquiring a route identifier where the carrier is currently located, and configuring one side, close to the route identifier, of the target spraying object into a sprayed state.
Optionally, the step of confirming whether the spraying state corresponding to the position of the target spraying object is not spraying includes: acquiring a route identifier where the carrier is currently located, and determining whether one side, close to the route identifier, of the target spraying object is in a sprayed state; if not, determining that the spraying state corresponding to the position of the target spraying object is not spraying.
In a second aspect, an embodiment of the present invention provides a spraying operation control apparatus, which is disposed on a carrier, and includes a spraying controller and a spraying module, where the spraying controller is electrically connected to the spraying module; the spraying controller is used for confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier when the spraying object to be confirmed exists in the spraying range; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; the spraying controller is further used for determining a spraying strategy according to the current position of the carrier and the position of the target spraying object if the current position of the carrier and the position of the target spraying object are the same; the spray strategy characterizes a spray angle at which the spray module matches the position of the target spray; the spray controller is further configured to control the spray module to perform a spray operation on the target spray according to the spray strategy.
Optionally, the spraying range represents a spherical area centered on the current position of the vehicle and having the spraying width of the spraying module as a radius; the spray controller is specifically configured to: and when the spraying object to be confirmed exists in the sphere area, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
Optionally, the spraying range represents an ellipsoid region centered on the current position of the vehicle and having the spraying width of the spraying module as a radius; the spray controller is further specifically configured to: and when the spraying object to be confirmed exists in the ellipsoidal region, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
Optionally, the spray controller is specifically configured to: when the spraying object to be confirmed exists in the spraying range, confirming whether a preset spraying object position matched with the current position of the carrier exists or not; and if so, taking the preset spraying object position as the target spraying object.
Optionally, the spray controller is further configured to determine a spray strategy according to the current position of the vehicle and the position of the target spray object if the target spray object is in a non-spraying state.
Optionally, the spraying controller is further specifically configured to determine whether a spraying state corresponding to the position of the target spraying object is not spraying; if so, determining that the target spraying object is in the non-spraying state; and determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
Optionally, the spray controller is further configured to configure the target spray point to be in a sprayed state.
Optionally, the spraying controller is further specifically configured to acquire a route identifier where the vehicle is currently located, and configure a side of the target spraying object close to the route identifier as a sprayed state.
Optionally, the spray controller is further specifically configured to: acquiring a route identifier where the carrier is currently located, and determining whether one side, close to the route identifier, of the target spraying object is in a sprayed state; if not, determining that the spraying state corresponding to the position of the target spraying object is not spraying.
In a third aspect, an embodiment of the present invention provides a vehicle, where the vehicle is provided with the spraying operation control device according to the second aspect, where the spraying operation control device includes a spraying controller and a spraying module; the spraying controller is electrically connected with the spraying module; the spray controller is adapted to perform the spray operation control method according to the first aspect.
In a third aspect, embodiments of the present invention provide a storage medium having stored thereon a computer program which, when executed by a processor, implements a spray job control method as described in the first aspect.
Compared with the prior art, the invention has the following beneficial effects:
the embodiment of the invention provides a spraying operation control method, a spraying operation control device, a carrier and a storage medium, wherein the spraying operation control method is applied to a spraying controller of the spraying operation control device, the spraying operation control device is arranged on the carrier, and the spraying controller is electrically connected with a spraying module of the spraying operation control device; the method comprises the following steps: when the spraying object to be confirmed exists in the spraying range, whether the spraying object to be confirmed is the target spraying object is confirmed according to the current position of the carrier; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; if so, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object; the spraying strategy represents a spraying angle matched with the position of the target spraying object by the spraying module; and controlling the spraying module to perform spraying operation on the target spraying object according to the spraying strategy. Compared with the prior art, the method can confirm the target spray object according to the spray object to be confirmed in the spray range, further determine the spray angle for spraying the target spray object, can realize uniform spraying of the target spray object, and improve the spray operation effect.
Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a spraying operation control device and an unmanned vehicle carrying the spraying operation control device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method of controlling a spraying operation in accordance with the practice of the present invention;
FIG. 3 is a schematic flow chart diagram of another method of controlling a spraying operation according to an embodiment of the present invention;
fig. 4 is a schematic view of a scenario provided by an embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram of another method of controlling a spraying operation according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart diagram of another method of controlling a spraying operation according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another scenario provided by the embodiment of the present invention;
FIG. 8 is a schematic flow chart diagram of another method of controlling a spraying operation according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of another scenario provided by an embodiment of the present invention;
FIG. 10 is a schematic diagram of another scenario provided by an embodiment of the present invention;
fig. 11 is a schematic view of another scenario provided in the embodiment of the present invention.
Icon: 100-unmanned vehicle; 110-a spray job control device; 101-a vehicle controller; 102-a location information acquisition module; 111-a spray controller; 112-two-axis pan-tilt; 113-an atomizing device; 1121-pitching motor; 1122-yaw motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
At present, adopt machinery to spray the operation and can increase substantially the operating efficiency of agriculture and forestry vegetation, but present machinery sprays the mode and generally needs to control machinery near the operation thing, then look for according to the coordinate position and the size of operation thing or profile information and spray the position, and then spray the position to the operation thing according to the confirmed spraying position, however, this kind of mode of spraying is very easy to spray the position because of the great part of omitting the operation thing of operation thing size, lead to can't realizing evenly spraying to the operation thing, the spraying effect has been reduced.
Therefore, in order to solve the above technical problem, an embodiment of the present invention provides a spraying operation control method, which is implemented according to the following principle: determining a target spraying object according to the current position of the carrier and the spraying object to be confirmed in the spraying range; and determining a spraying angle according to the current position of the carrier and the position of the target spraying object, and controlling the spraying module to perform spraying operation on the target spraying object according to the spraying angle.
It is understood that the vehicle may be unmanned equipment or manned equipment, wherein the unmanned equipment may be unmanned aerial vehicles or unmanned vehicles, the working area may be farmland, greenbelt, fruit forest and the like, and the crop may be ground cover plants, rice, wheat and the like, which is not limited herein.
In order to achieve the beneficial effects achieved by the spraying operation control method, in the embodiment of the present invention, first, structural components of a vehicle for performing a spraying operation are introduced, the vehicle is operated cooperatively by the structural components provided in the embodiment of the present invention to achieve uniform spraying of an operation object, and the effect of the spraying operation is improved.
The unmanned vehicle 100 may include a vehicle controller 101 and a position information acquisition module 102, the vehicle controller 101 may be electrically connected to the position information acquisition module 102, and is configured to obtain a current position of the unmanned vehicle in real time from the position information acquisition module 102, and transmit an obtained position coordinate of the unmanned vehicle and a position coordinate of an operation object within the position coordinate range to the spray controller, so that the spray controller adjusts a spray angle thereof according to the obtained coordinate position information, and controls the spray module of the spray operation control device to perform a spray operation according to the spray angle.
The position information collection module 102 can be a GPS and/or a radar, etc., the position information collection module 102 can be used for acquiring the current position of the unmanned vehicle and the position of a target spray object matched with the current position of the unmanned vehicle in real time in the running process of the unmanned vehicle, the position information collection module is also used for collecting the information of the spray object to be confirmed in the spray range, and sending the collected information of the spray object to be confirmed to the vehicle controller 101, so that the vehicle controller 101 sends the information of the spray object to be confirmed to the spray controller, and the spray controller confirms whether the spray object to be confirmed is the target spray object or not by combining the current position of the unmanned vehicle.
The functions that can be realized by the position information acquisition module will be described below in three situations, namely, the position information acquisition module can be a radar, or a GPS module and a radar.
Case 1
The position information acquisition module can be a radar with high positioning precision and high identification precision, such as a laser radar, an ultrasonic radar and the like, is used for collecting the position information, the characteristic information and the distance information between the unmanned vehicle and the object to be sprayed in the spraying range and providing the information to the vehicle controller, so that the spraying controller can acquire characteristic information, position information and distance information from the vehicle controller in real time and match the acquired characteristic information with the characteristic information of all the pre-stored pre-set spraying objects to realize the function of determining the target spraying objects, meanwhile, according to the position information, a map in the operation area is constructed by utilizing a real-time positioning and map construction technology SLAM (SLAM for short), the spray angle may be calculated in combination with the position information and distance information in the map to achieve accurate spraying of the target spray at the location of the spray to be confirmed.
Case 2
The position information acquisition module can be a high-positioning-precision GPS and is used for accurately positioning the unmanned vehicle and the target spraying object to obtain three-dimensional coordinate positions of the unmanned vehicle and the target spraying object, the unmanned vehicle can acquire three-dimensional coordinate information of any to-be-preset spraying object in the operation area in advance before entering the operation area to operate, and when the spraying object to be confirmed exists in the spraying range, the GPS can be used for acquiring the three-dimensional coordinate information of the unmanned vehicle and the to-be-confirmed spraying object and sending the acquired three-dimensional coordinate information to the vehicle controller, so that the spraying controller can acquire the three-dimensional coordinate information from the vehicle controller in real time to be matched with the three-dimensional coordinate information of the to-be-preset spraying object to determine the target spraying object and calculate the angle of spraying operation according to the three-dimensional coordinate information to realize accurate spraying of the target spraying object.
Case 3
The position information acquisition module can also be a GPS and a radar, when the GPS has low positioning precision and the radar has high positioning precision, the implementation mode of the situation 1 can be adopted to carry out spraying operation on the target sprayed object, and when the GPS has high positioning precision and the radar has low positioning precision, the implementation mode of the situation 2 can be adopted to complete the spraying operation on the target sprayed object; when the positioning accuracy of the GPS and the radar have high positioning accuracy, spraying the target spraying object can be finished by adopting any one implementation mode of the situation 1 or the situation 2; when the positioning accuracy of the GPS and the positioning accuracy of the radar are low, the target spraying object can be identified through the radar, and the target spraying object is sprayed by utilizing the position of the target spraying object obtained by the GPS.
It should be noted that, aiming at the above 3 situations, the user can select according to the positioning accuracy of the radar and the GPS, when the radar has high positioning accuracy, the radar can be used to complete the positioning of the target spraying object within the spraying range and to specify the spraying strategy by combining the positioning result so as to realize the spraying of the target spraying object, and when the GPS has high positioning accuracy, the GPS can be used to complete the positioning of the target spraying object within the spraying range and to specify the spraying strategy by combining the positioning result so as to realize the spraying of the target spraying object.
It is understood that the unmanned vehicle 100 may further include a communication module, which may be a data link, and may be configured to receive preset route information and map information of the work area sent by other terminal devices, where the map information may include coordinate information of all preset sprinklers in the work area; the unmanned vehicle 100 can perform data interaction with other terminal devices through a data link, and transmit route information of the other terminal devices and map information of an operation area to the vehicle controller 101 through a communication interface, so that the vehicle controller 101 controls the unmanned vehicle to run according to a planned route.
With continued reference to fig. 1, in the unmanned vehicle 100, a spraying operation control device 110 provided in the embodiment of the present invention may be mounted for spraying the work object in the work area, the spraying operation control device 110 may include a spraying controller 111, a two-axis pan-tilt 112 and an atomizing device 113, and the spraying controller 111, the atomizing device 113 and the two-axis pan-tilt 112 may be electrically connected.
The spraying controller 111 may receive the position coordinates of the unmanned vehicle and the position coordinates of the target spraying object transmitted from the vehicle controller 101 of the unmanned vehicle 100, and then determine the spraying angle of the atomizing device 113 according to the obtained position information, and may further control the two-axis pan-tilt 112 to adjust the atomizing device 113 to the determined angle to spray the target spraying object.
The atomizing device 113 is used for atomizing the sprayed object, so as to effectively enlarge the coverage area of the sprayed object, the two-axis pan-tilt 112 includes a pitching motor 1121 and a yawing motor 1122, both the pitching motor 1121 and the yawing motor 1122 can be electrically connected to the spraying controller, and the pitching motor 1121 and the yawing motor 1122 under the control of the spraying controller 111 jointly determine the spraying angle range of the atomizing device 113.
The spraying controller 111, the atomizing device 113 and the two-axis pan-tilt 112 may cooperate to complete the spraying operation on the sprayed object, and specifically, the spraying controller 111 may determine a pitch angle corresponding to the pitch motor 1121 and a yaw angle corresponding to the yaw motor 1122 according to the current position of the unmanned vehicle and the position coordinate of the target sprayed object, and output a control instruction to the pitch motor and the yaw motor according to the pitch angle and the yaw angle, and control the pitch motor and the yaw motor to drive the atomizing device 113 to move to the positions corresponding to the pitch angle and the yaw angle to spray the crop.
It is understood that the movement range of the pitch motor 1121 can be from 0 degree to 180 degrees, the movement range of the yaw motor 1122 can be from 0 degree to 360 degrees, and the present invention is not limited thereto, and a user can select a pitch motor and a yaw motor with a larger or smaller movement range according to actual requirements, and the present invention is not limited thereto.
With continued reference to fig. 1, the vehicle controller 101 and the spray controller 111 of fig. 1 may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
Referring to fig. 2, fig. 2 is a schematic flow chart of a spraying operation control method provided by the implementation of the present invention, which includes:
step 201, when the spraying object to be confirmed exists in the spraying range, confirming whether the spraying object to be confirmed is the target spraying object according to the current position of the carrier.
In the embodiment of the present invention, the spraying range represents the maximum spraying range of the spraying module in the moving range, for example, taking the atomization device 113 in fig. 1 as an example, the spraying controller 111 may obtain the current position of the unmanned vehicle in real time from the vehicle controller 101, and may calculate the position of the atomization device according to the current position of the unmanned vehicle 100 and the installation information of the atomization device 113, so that the spraying range may be a three-dimensional space region formed by the center of the position of the atomization device 113 and the spraying range of the atomization device 113 as a radius, the position information collection module 102 may collect the information of the sprayed object in the spraying range in real time during the driving of the unmanned vehicle 100, the position information collection module 102 may be a GPS module or a radar, when the sprayed object to be confirmed exists in the spraying range, the position information collection module 102 obtains the current position corresponding to the unmanned vehicle 100 at this time, and sent to the spray controller 111 by the vehicle controller 101, the spray controller 111 confirms whether the object to be sprayed is a target spray object on which a spray job is to be performed, according to the current position.
It can be understood that, in an actual scene, when the unmanned vehicle is driving, the spraying object to be confirmed existing in the spraying range may be an outline of a working object to be sprayed (e.g., a tree) or may be an obstacle point (e.g., a winged insect, a telegraph pole, etc.), and the spraying operation is not actually required for the obstacle point, so when the spraying object to be confirmed existing in the spraying range is determined, it is necessary to further confirm whether the spraying object to be confirmed is a target spraying object, and if the spraying object is the target spraying object, a spraying strategy may be formulated for the target spraying object.
Step 202, if yes, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
In the embodiment of the invention, when the spray object in the spraying range is the target spray object, the spraying strategy is determined according to the current position of the carrier and the position of the target spray object, and the spraying strategy represents the spraying angle of the spraying module matched with the position of the target spray object.
For example, taking the pitch motor 1121 and the yaw motor 1122 shown in fig. 1 as an example, the spraying angle may include a pitch angle corresponding to the pitch motor 1121 and a yaw angle corresponding to the yaw motor 1122, and the spraying controller 111 may output a control instruction to the pitch motor and the yaw motor according to the pitch angle and the yaw angle, and control the pitch motor and the yaw motor to drive the atomizing device 113 to move to a position corresponding to the pitch angle and the yaw angle to spray the crops.
And step 203, controlling the spraying module to spray the target sprayed object according to the spraying strategy.
In the embodiment of the invention, after the spraying angle of the target spraying object is determined, the spraying operation can be performed on the target spraying object according to the spraying angle, and the effect of accurately spraying the target spraying object can be realized according to the determined spraying angle.
The spraying operation control method provided by the embodiment of the invention is applied to a spraying controller of a spraying operation control device, the spraying operation control device is arranged on a carrier, and the spraying controller is electrically connected with a spraying module of the spraying operation control device; the method comprises the following steps: when the spraying object to be confirmed exists in the spraying range, whether the spraying object to be confirmed is the target spraying object is confirmed according to the current position of the carrier; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; if so, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object; the spraying strategy represents a spraying angle of the spraying module matched with the position of the target spraying object; and controlling the spraying module to perform spraying operation on the target spraying object according to the spraying strategy. Compared with the prior art, the method can confirm the target spray object according to the spray object to be confirmed in the spray range, further determine the spray angle for spraying the target spray object, can realize uniform spraying of the target spray object, and improve the spray operation effect.
Optionally, the spraying range may represent a sphere or an ellipsoid that takes the current position of the carrier as a center and takes the spraying width of the spraying module as a radius, and when the object to be sprayed exists in the sphere area or the ellipsoid, it is determined whether the object to be sprayed is the target object to be sprayed according to the current position of the carrier.
It can be understood that the spray width of the spray module can include a horizontal spray width and a vertical spray width, when the horizontal spray width is the same as the vertical spray width, the spray range of the spray module can form a sphere region, when the horizontal spray width is not the same as the vertical spray width, the spray range of the spray module can form an ellipsoid region, specifically, when the horizontal spray width is greater than the vertical spray width, the horizontal spray width is the long radius of the ellipsoid, the vertical spray width is the short radius of the ellipsoid, when the horizontal spray width is greater than the vertical spray width, the horizontal spray width is the short radius of the ellipsoid, and the vertical spray width is the long radius of the ellipsoid.
Optionally, in an actual scene, since there may be an obstacle in the working area, when the unmanned vehicle is running, the spraying object to be confirmed existing in the spraying range may be the outline of a preset spraying object (e.g., a tree), or may be an obstacle point (e.g., a winged insect, a telegraph pole, etc.), and the spraying operation is not actually required for the obstacle point, when there is the spraying object to be confirmed in the spraying range, it is necessary to further confirm whether the spraying object to be confirmed is a target spraying object, so as to avoid the phenomenon of incorrect spraying.
In order to solve the above problem, an embodiment of the present invention provides an implementation manner of determining whether a spray to be confirmed is a target spray, referring to fig. 3, fig. 3 is a schematic flowchart of another spray operation control method provided by an embodiment of the present invention, that is, step 201 may include the following sub-steps:
substep 201-1, when there is a spray to be confirmed within the spraying range, confirming whether there is a preset spray matching the current position of the vehicle and the spray to be confirmed.
In the embodiment of the present invention, when the spraying object to be confirmed exists in the spraying range, the spraying object to be confirmed may be an obstacle, or may be a partial structure of a preset spraying object (for example, an outline of a tree), at this time, the current position of the vehicle, the collected information of the spraying object to be confirmed, and the information of the preset spraying object in the working area may be combined to determine the target spraying object, the information of the preset spraying object may be coordinate information marked in advance on a map of the working area, the spraying controller of the vehicle may read map information of the working area from the vehicle controller and obtain the position of the preset spraying object according to the map information, and the map information may be two-dimensional map information or three-dimensional map information.
It can be understood that when the spraying object to be confirmed exists in the spraying range, the spraying object to be confirmed and the relevant information of the carrier can be collected according to the type of the position information collection module actually configured by the carrier, when the position information collection module is a radar, in order to obtain the accurate position information of the carrier and the spraying object to be confirmed, the radar needs to be provided with a high-precision sensor, and meanwhile, the radar can also have a function of collecting the characteristic information of the spraying object to be confirmed so that the spraying controller can be matched according to the characteristic information to determine the target spraying object; when the position information acquisition module is a GPS, the GPS needs to have a high-precision positioning function, and can accurately obtain the three-dimensional coordinate positions of the carrier to be carried and the preset sprayed object; when the position information acquisition module is a GPS and a radar, the precision of the GPS and the radar does not have high requirements, and the GPS and the radar are combined to obtain the three-dimensional coordinate positions of the carrier and the preset spraying object.
Substep 201-2, if present, takes the preset spray as the target spray. For convenience of understanding, the implementation process of the above-mentioned confirmation target spray is described in detail below by taking an unmanned vehicle as a carrier, a spraying range as a sphere, and a preset spray in a working area as a tree as an example.
Referring to fig. 4, fig. 4 is a schematic view of a scene provided by an embodiment of the present invention, where preset sprinklers existing in a working area are trees 1, 2, 3, and 4, the trees are irregular in shape, barrier points (e.g., telegraph poles) may also exist in the working area, a driving direction of an unmanned vehicle is as shown in fig. 4, a scanning sphere gradually covers an area where the barrier points are located and an area where a tree contour is located along with movement of the unmanned vehicle, a position information collecting module on the unmanned vehicle 100 may collect relevant information of the barrier points and the tree contour existing in the sphere area and send the collected information to a vehicle controller, and the spray controller obtains the relevant information from the vehicle controller in real time to determine a target sprinkler and a spray angle for performing a spraying operation on the target sprinkler.
Case 1: the position information acquisition module is a radar.
When the confirmed spraying object 1 (obstacle point) and the spraying object 2 (tree contour) to be confirmed exist in the sphere area, the relevant information collected by the radar may include feature information and position coordinate information of the spraying object 1 (obstacle point) to be confirmed and the spraying object 2 (tree contour) to be confirmed, wherein the position coordinate information includes the center position coordinate of the spraying object 2 (tree contour) to be confirmed, the current position coordinate of the unmanned vehicle, and the distance between the spraying object to be confirmed and the unmanned vehicle.
The radar sends the collected related information to the vehicle controller, the spraying controller obtains the characteristic information and the position coordinate information from the vehicle controller in real time, and the obtained characteristic information is matched with the characteristic information of the preset spraying object in the pre-stored operation area to determine the target spraying object.
For example, with reference to fig. 3, feature data, such as shape feature data, of the trees 1, 2, 3, and 4 may be stored in advance in the spraying controller, and after the spraying controller obtains the collected feature information of the to-be-confirmed sprayed object 1 (obstacle point) and the to-be-confirmed sprayed object 2 (tree contour), the feature information is matched with the stored feature data, and it is determined that the feature information of the to-be-confirmed sprayed object 2 (tree contour) is matched with the feature data of the tree 1, so that the tree 1 may be determined as a target sprayed object, and a spraying angle relative to a center position coordinate of the to-be-confirmed sprayed object 2 (tree contour) is calculated according to the obtained position coordinate information, and then the spraying module is controlled to spray the to-be-confirmed sprayed object 2 (tree contour) according to the determined spraying angle, so as to achieve the purpose of accurate spraying.
Case 2: the position information acquisition module is a GPS.
When the spraying object 1 (obstacle point) to be confirmed and the spraying object 2 (tree outline) to be confirmed exist in the sphere area, the related information acquired by the GPS can be three-dimensional coordinate information, wherein the three-dimensional coordinate information comprises a high-precision three-dimensional coordinate position of the current position of the unmanned vehicle, a three-dimensional coordinate of a center point of the tree outline and a three-dimensional coordinate of the obstacle point.
For example, assuming that the three-dimensional coordinates of the tree 1 are (x1, y1, h1), the three-dimensional coordinates of the tree 2 are (x2, y1, h1), the three-dimensional coordinates of the tree 3 are (x3, y3, h3), and the three-dimensional coordinates of the tree 4 are (x4, y4, h4), when it is assumed that the unmanned vehicle is currently located at (x, y, h), the spray object to be confirmed exists in the sphere area, the spray controller determines, according to the map information, that the tree 1 matching the spray object to be confirmed exists within a preset range (for example, within 2 meters) of the coordinates (x, y, h) of the current location of the unmanned vehicle, and then the spray controller may determine that the tree 1 is the target spray object, and may spray the tree 1 according to the spray angle determined by assuming that the three-dimensional coordinates of the tree 1 are (x1, y1, h1) and the three-dimensional coordinates (x, y, h) of the unmanned vehicle, thereby achieving the purpose of accurate spray.
Case 3: the position information acquisition module is a GPS and a radar.
When the confirmed spray 1 (obstacle point) and the spray 2 (tree contour) to be confirmed exist in the sphere area, the relevant information collected by the radar may include characteristic information of the spray 1 (obstacle point) to be confirmed and the spray 2 (tree contour) to be confirmed, and distances between the spray 1 (obstacle point) to be confirmed and the spray 2 (tree contour) to be confirmed relative to the unmanned vehicle; the relevant information collected by the GPS comprises the current coordinate position of the unmanned vehicle, the center coordinate of the spray object 1 (obstacle point) to be confirmed and the center position coordinate of the spray object 2 (tree outline) to be confirmed.
The radar and the GPS send the collected information to the vehicle controller, the spraying controller acquires characteristic information and position coordinate information from the vehicle controller in real time, the characteristic information is matched with the characteristic data of the tree 1, the tree 2, the tree 3 and the tree 4 in the pre-stored operation area, the tree 1 is determined to be matched with the object to be sprayed 2 (tree outline) in the sphere, therefore, the object to be sprayed can be determined to be sprayed by the tree 1, the spraying angle relative to the center position coordinate of the object to be sprayed 2 (tree outline) is calculated according to the acquired position coordinate information, the spraying module is controlled to spray according to the determined spraying angle, and the tree 1 is sprayed accurately.
Optionally, in the process of the spraying operation control method, the spraying state of the target spraying object may be determined before the target spraying object is sprayed, and spraying is performed when the target spraying object is in a non-spraying state, and spraying is not performed when the target spraying object is in a spraying state, so that uniform spraying of the working object can be achieved, and the effect of spraying operation is improved.
In order to achieve uniform spraying, after determining a target spraying object, it may be determined whether the target spraying object has been sprayed, and if not, a spraying strategy may be formulated for a position according to the target spraying object, and a spraying operation may be performed on the target spraying object according to the formulated spraying strategy, so as to achieve uniform spraying on a work object, and prevent a phenomenon of missed spraying or multiple spraying, for this reason, on the basis of fig. 2, an implementation manner of another spraying control method is given, see fig. 5, and fig. 5 is a schematic flow chart of another spraying operation control method provided by an embodiment of the present invention, where another possible implementation manner of step 202 in fig. 2 is:
step 202a, if yes, when the target spraying object is in a non-spraying state, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
Through after confirming the target spraying thing, confirm the spraying state of target spraying thing, when the target spraying thing is in for spraying the state, appointed spraying strategy to realize the even spraying to the operation thing, prevent to appear leaking the phenomenon of spouting or spouting more.
Optionally, in order to be able to determine the spraying status of the target spraying object, a possible implementation is given below, referring to fig. 6, where fig. 6 is a schematic flow chart of another spraying operation control method provided by the embodiment of the present invention, and step 202a may further include the following sub-steps:
sub-step 202a-1, confirming whether the spraying state corresponding to the position of the target spraying object is not spraying.
It can be understood that, in a possible implementation manner, mark information may be added to a position where spraying has been performed for a target spraying object in a work area map, where the mark information may represent a sprayed state of a state corresponding to the position of the target spraying object, when a spraying object to be confirmed exists in a spraying range, it may be determined whether the target spraying object matched with the spraying object to be confirmed has the mark information, if not, it indicates that the spraying state of the target spraying object is not spraying, and if so, it indicates that the spraying state of the target spraying object is spraying, and by identifying the spraying state information, an objective of avoiding a phenomenon of missed spraying or over-spraying may be achieved.
Sub-step 202a-2, if yes, determines that the target spray is in a non-spraying state.
Sub-step 202a-3 determines a spray strategy based on the current position of the vehicle and the position of the target spray.
In the embodiment of the invention, the spraying strategy represents the spraying angle of the spraying module matched with the position of the target spraying object, and when the spraying state corresponding to the position of the target spraying object is determined to be the non-spraying state, the spraying angle can be determined by combining the position of the target spraying object and the current position of the carrier, so that the non-spraying position can be sprayed according to the spraying angle.
Optionally, when it is determined that the target spray is in the non-spraying state, the spraying angle may be further determined by combining the position of the target spray and the current position of the vehicle, and an implementation manner of determining the spraying angle by combining the position of the target spray and the current position of the vehicle is as follows:
the method comprises the steps of firstly, obtaining the current position coordinate information of a carrier, the position coordinate information of a target spraying object and the distance between the target spraying object and the carrier;
in the embodiment of the invention, the current position coordinate information of the carrier and the position coordinate information of the target spraying object both comprise corresponding longitude and latitude information and height information.
And secondly, determining coordinate position information of the spraying module according to the current position coordinate information of the carrier and the installation position information of the spraying module.
And thirdly, determining a spraying angle according to the coordinate position information of the spraying module, the coordinate information of the target spraying object and the height information of the target spraying object from the spraying module.
In an embodiment of the invention, the spray angle comprises a pitch angle and a yaw angle.
For convenience of understanding, referring to fig. 7, fig. 7 is another schematic view of a scenario provided by an embodiment of the present invention, wherein, assuming that the position information acquisition module is a GPS and a radar, the GPS coordinate of the current position of the vehicle and the GPS coordinate of the spraying module determined by the installation information of the spraying module are (x, y, h), the GPS coordinate of the center point of the target spraying object is (x1, y1, h1), the distance d of the preset spraying object from the spraying module is measured by the radar, and the height difference between the target spraying object and the spraying module is he(heH1-h), the coordinates of the target spray and the spray module projected onto the xy plane coordinates may be represented as (x1, y1), (x, y), respectively, and the yaw angle and pitch angle of the spray module may be calculated from the geometric relationship between the target spray and the spray module position.
After the yaw angle and the pitch angle corresponding to the spraying module are calculated by the method, the target spraying object can be sprayed according to the spraying angle, so that the target spraying object can be accurately sprayed.
Alternatively, in order to prevent the occurrence of the phenomenon of missed spraying or repeated spraying, the spraying state of the target spraying object needs to be determined before spraying is performed, and the spraying operation is performed when the target spraying object is in the non-spraying state, so that, in order to accurately identify the spraying state of the spraying object before the next spraying operation is performed, state information may be added to the target spraying object after one spraying operation is completed on the target spraying object, and the target spraying object is indicated to be sprayed by the mark information, a possible implementation manner is given below on the basis of fig. 5, referring to fig. 8, fig. 8 is a schematic flow chart of another spraying operation control method provided by the embodiment of the present invention, that is, after the spraying operation is performed on the target spraying object, the method may further include the following steps:
and step 204, configuring the target spraying object to be in a sprayed state.
In the embodiment of the present invention, the manner of configuring the sprayed state for the target spraying object may be to add mark information at a coordinate position corresponding to the target spraying object in the map of the operation area, where the mark information may represent the sprayed state of the state corresponding to the position of the target spraying object, and when the vehicle travels to a position near the position of the target spraying object, the spraying state of the target spraying object may be determined according to the mark information in the map, so as to determine whether the spraying operation needs to be performed on the target spraying object, and thus, the effects of uniformly spraying the target spraying object and avoiding repeated spraying can be effectively achieved.
Optionally, in order to enable the vehicle to accurately identify the spraying status of the target spraying object in the subsequent spraying operation, the following gives a possible implementation manner for configuring the target spraying object to be in the sprayed status, that is, step 204 may include the following sub-steps:
and a substep 204-1 of acquiring a route identifier where the vehicle is currently located, and configuring one side, close to the route identifier, of the target spraying object into a sprayed state.
To elaborate the process of configuring the spray status for a target spray, a possible implementation of configuring the spray status is given below in conjunction with three scenarios.
Case 1: the position information acquisition module is a high-precision radar.
When the radar is used for acquiring the characteristic information of the target spraying object and the position information of the target spraying object and the unmanned vehicle, the vehicle controller can construct a map in a working area by utilizing an SLAM technology according to the acquired characteristic information and the position information of the target spraying object, the target spraying object has a unique coordinate position in the constructed map, and after the spraying operation is performed on a certain determined target spraying object, mark information can be added at the corresponding coordinate position in the constructed map information, namely the spraying state of the target spraying object is configured, and the mark information is used for representing that the target spraying object at the coordinate position is sprayed.
For convenience of understanding, please refer to fig. 9, fig. 9 is another schematic view of a scene provided by the embodiment of the present invention,wherein when the unmanned vehicle is traveling on the course identified by course designation a, it is at location (x)t1,yt1) Here, the radar obtains a spray level position to be confirmed within a spray range of (x1, y1), and after performing a spray operation on the protruded outline of the tree 1 at the (x1, y1) position, marking information indicating that the preset spray at the position (x1, y1) is a sprayed state may be added to the map constructed at the spray level position (x1, y1), at the position (x1, y1) when the unmanned vehicle travels on the course identified by the course identification bt1,yt1) Here, the radar may obtain a spray level position to be confirmed within the spray range (x2, y2), and after performing a spray operation on the protruded contour of the tree 1 at the (x2, y2) position, mark information may be added in the constructed map at the spray level position (x2, y2) indicating that the preset spray at the position (x2, y2) is in a sprayed state.
Case 2: the position information acquisition module is a GPS.
When the GPS is used for acquiring the three-dimensional position information of the unmanned vehicle and the target spraying object, the target spraying object is a three-dimensional coordinate of a preset spraying object in the operation area, and the coordinate position of each preset spraying object is fixed, so that the coordinate information of the target point can be recorded after each spraying, and repeated spraying is avoided.
For ease of understanding, referring to fig. 10, fig. 10 is another schematic view of a scenario provided by an embodiment of the present invention, wherein when an unmanned vehicle travels on a flight line with a flight line identifier a or a flight line with a flight line identifier b, when a spray to be confirmed in a spraying range matches a tree with a position (x, y), after a spraying operation is performed on the tree, a side mark of the tree close to the flight line identifier may be configured to be in a sprayed state according to shape data of the tree maintained in a controller, such as an image of the tree, for example, a mark information may be added to the side close to the flight line identifier on the image of the tree to represent that the side of the tree where the mark is added is in the sprayed state.
Case 3: the position information acquisition module is a GPS and a radar.
The GPS and the radar are used in combination to acquire the position information of the unmanned vehicle and the target spraying object and the characteristic information of the target spraying object, when the GPS and the radar have high positioning accuracy, the purpose of configuring the spraying state of the target spraying object can be achieved by adopting any one of the implementation modes of the situation 1 or the situation 2, when the positioning accuracy of the GPS is smaller than that of the radar, the mode of configuring the spraying state in the situation 1 can be adopted, when the positioning accuracy of the GPS is higher than that of the radar, the mode of configuring the spraying state in the situation 3 can be adopted, when the positioning accuracy of the GPS and that of the radar are low, the configuration of the spraying state of the target spraying object can be achieved by combining the implementation modes of the situation 1 and the situation 2, and a user can select the spraying state according to actual conditions without limitation.
It should be noted that, for the above 3 situations, the user may select according to the positioning accuracy of the radar and the GPS, when the radar has high positioning accuracy, the radar may be used to complete the spraying status configuration of the target spraying object within the spraying range, and when the GPS has high positioning accuracy, the GPS may be used to complete the spraying status configuration of the target spraying object within the spraying range.
Optionally, as can be seen from the above manner of configuring the spraying state for the target spraying object, when the vehicle is in a driving process, the target spraying object is configured with the mark information of the spraying state on a side close to the lane mark where the vehicle is driving, and then when at least two preset lanes are planned in the working area, in order to avoid a phenomenon of missed spraying or repeated spraying in different lane overlapping areas, when the vehicle is driving according to different lanes and spraying operation is performed on the target spraying object, it is determined whether the spraying state corresponding to the position of the target spraying object is not spraying, and in order to be able to identify the spraying state of the corresponding target spraying object in the lane overlapping area, a possible implementation manner is given below, that is, step 202a-1 may further include the following sub-steps:
202a-1-1, acquiring the current course mark of the carrier, and determining whether the side of the target spraying object close to the course mark is in a sprayed state.
202a-1-2, if not, confirming that the spraying state corresponding to the position of the target spraying object is not spraying.
For the convenience of understanding of the above process, the following is explained and described by taking a scenario in which the unmanned vehicle performs a spraying operation on a tree in a working area when traveling according to two preset routes existing in the working area as an example, referring to fig. 11, fig. 11 is another scenario diagram provided by the embodiment of the present invention, wherein it is assumed that two preset routes exist for a working object, that is, a first preset route is 1a- >1b- >2c, where 1a, 1b, and 1c are respectively route identifiers corresponding to the first route, and a second route is 2a- >2b- >2c- >2d- >2e, where 2a, 2b, 2c, 2d, and 2e are respectively route identifiers corresponding to the second route, a starting position of the first route is a starting position of the unmanned vehicle, a terminating position of the first route is a starting position of the second route, where, the air routes corresponding to the air route identifiers 1b and 2e and the air route identifiers 1c and 2d are all in the air route overlapping area, and when an unmanned vehicle drives into the air route overlapping area, repeated spraying on the tree 3 is possibly caused.
In order to solve the problems, when an unmanned vehicle firstly runs according to a first air route, passes through air routes marked by air routes 1a, 1b and 1c and sprays a tree 3, one side of the tree 3 close to the air route marks is configured to be in a sprayed state, namely one side of the tree 3 close to the air routes marked by the air routes 1a, 1b and 1c is marked as the sprayed state, when the unmanned vehicle transits from the first air route to a second air route, when the unmanned vehicle runs according to the second air route to the air route marked by the air route mark 2c, the side of the air route marked by the tree 3 and marked with no information is determined, the spraying state is not sprayed, the spraying operation is carried out on the tree 3, when the unmanned vehicle runs to the air route marked by the air route mark 2d, because the air route marked by the air route mark 2d is overlapped with the air route marked by the air route mark 1c, and the tree 3 is configured to be in the sprayed state on one side of the air route corresponding to the air route identifier 1c of the unmanned vehicle, so that the unmanned vehicle runs to the air route corresponding to the air route identifier 2d through the second air route, and after the side of the tree 3 is determined to be in the sprayed state, the spraying operation is not executed on the tree 3, the uniform spraying effect on the tree 3 is realized in the whole process, and meanwhile, the repeated spraying on the tree 3 can be avoided.
Embodiments of the present invention further provide a storage medium, on which a computer program is stored, for example, when the storage medium can be stored in a memory of a carrier, the computer program is executed by a processor to implement any one of the spraying operation control methods in the foregoing embodiments, and the computer readable storage medium can be, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic disk, or an optical disk.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (11)

1. A spraying operation control method is characterized in that the method is applied to a spraying controller of a spraying operation control device, the spraying operation control device is arranged on a carrier, and the spraying controller is electrically connected with a spraying module, a pitching motor and a yaw motor of the spraying operation control device; the method comprises the following steps:
when spraying objects to be confirmed exist in the spraying range, confirming whether the spraying objects to be confirmed are target spraying objects or not according to the current position of the carrier, the information of the spraying objects to be confirmed, which is acquired by the position information acquisition module, and the information of the spraying objects preset in the working area; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range; if so, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object; the spray strategy characterizes a spray angle at which the spray module matches the position of the target spray; the spray angle comprises a pitch angle of the pitch motor and a yaw angle of the yaw motor;
controlling the spraying module to perform spraying operation on the position of the target spraying object in a non-spraying state according to the spraying strategy;
when spraying the within range and having and wait to confirm and spray the thing, according to the present position of carrier, the information that position information acquisition module gathered wait to confirm and spray the information of the thing and preset in the operation area and spray the information and confirm whether wait to confirm and spray the thing and spray the step of the thing for the target, include:
when the spraying object to be confirmed exists in the spraying range, matching the characteristic information of the spraying object to be confirmed, which is acquired by the position information acquisition module, with the characteristic information of all pre-stored pre-set spraying objects, or matching the three-dimensional coordinate information of the spraying object to be confirmed, which is acquired by the position information acquisition module, with the three-dimensional coordinate information of the pre-acquired pre-set spraying objects, and confirming whether the pre-set spraying object matched with the current position of the carrier and the spraying object to be confirmed exists; and if so, taking the preset spray as the target spray.
2. The spray operation control method according to claim 1, wherein the spray range represents a spherical area centered on a current position of the vehicle and having a radius of a spray swath of the spray module; when the spraying object to be confirmed exists in the spraying range, the step of confirming whether the spraying object to be confirmed is the target spraying object or not according to the current position of the carrier comprises the following steps:
and when the spraying object to be confirmed exists in the spherical area, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
3. The spraying operation control method according to claim 1, wherein the spraying range is an ellipsoidal region; the major radius of the ellipsoid region is a horizontal spraying amplitude and the minor radius is a vertical spraying amplitude, or the major radius of the ellipsoid region is a vertical spraying amplitude and the minor radius is a horizontal spraying amplitude; when the spraying object to be confirmed exists in the spraying range, the step of confirming whether the spraying object to be confirmed is the target spraying object or not according to the current position of the carrier comprises the following steps:
and when the spraying object to be confirmed exists in the ellipsoidal region, confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier.
4. The spray operation control method according to any one of claims 1 to 3, wherein if so, the step of determining a spray strategy based on the current position of the vehicle and the position of the target spray object comprises:
if so, when the target spraying object is in a non-spraying state, determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
5. The spray operation control method of claim 4, wherein the step of determining a spray strategy based on the current position of the vehicle and the position of the target spray when the target spray is in a non-spraying state comprises:
confirming whether the spraying state corresponding to the position of the target spraying object is not sprayed;
if yes, determining that the target spraying object is in the non-spraying state;
and determining a spraying strategy according to the current position of the carrier and the position of the target spraying object.
6. The spray operation control method of claim 5, further comprising, after the step of controlling the spray module to perform a spray operation on the target spray in accordance with the spray strategy:
configuring the target spray to be in a sprayed state.
7. The spray operation control method of claim 6, wherein the step of configuring the target spray point to be in a sprayed state comprises:
and acquiring a route identifier where the carrier is currently located, and configuring one side, close to the route identifier, of the target spraying object into a sprayed state.
8. The spraying operation control method according to claim 7, wherein the step of confirming whether the spraying state corresponding to the position of the target spraying object is not spraying comprises:
acquiring a current lane mark of the carrier, and determining whether one side of the target spraying object close to the lane mark is in a sprayed state;
if not, determining that the spraying state corresponding to the position of the target spraying object is not spraying.
9. A spraying operation control device is arranged on a carrier and is characterized by comprising a spraying controller, a spraying module, a pitching motor and a yawing motor, wherein the spraying controller is electrically connected with the spraying module, the pitching motor and the yawing motor;
the spraying controller is used for confirming whether the spraying object to be confirmed is a target spraying object or not according to the current position of the carrier, the information of the spraying object to be confirmed, which is acquired by the position information acquisition module, and the information of the spraying object preset in the operation area when the spraying object to be confirmed exists in the spraying range; the spraying range represents the maximum spraying amplitude of the spraying module in the moving range;
the spray controller is specifically configured to: when the spraying object to be confirmed exists in the spraying range, matching the characteristic information of the spraying object to be confirmed, which is acquired by the position information acquisition module, with the characteristic information of all pre-stored pre-set spraying objects, or matching the three-dimensional coordinate information of the spraying object to be confirmed, which is acquired by the position information acquisition module, with the three-dimensional coordinate information of the pre-acquired pre-set spraying objects, and confirming whether the pre-set spraying object matched with the current position of the carrier and the spraying object to be confirmed exists; if so, taking the preset spray as the target spray;
the spraying controller is further used for determining a spraying strategy according to the current position of the carrier and the position of the target spraying object if the current position of the carrier and the position of the target spraying object are the same; the spray strategy characterizes a spray angle at which the spray module matches the position of the target spray; the spray angle comprises a pitch angle of the pitch motor and a yaw angle of the yaw motor;
the spraying controller is further used for controlling the spraying module to perform spraying operation on the position of the target spraying object in the non-spraying state according to the spraying strategy.
10. A vehicle, characterized in that the vehicle is provided with the spraying operation control device of claim 9, the spraying operation control device comprises a spraying controller and a spraying module; the spraying controller is electrically connected with the spraying module; the spray controller is adapted to perform the spray job control method of any one of claims 1-8.
11. A storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a spray job control method as claimed in any one of claims 1-8.
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