WO2020061738A1 - Procédé destiné à commander un véhicule aérien sans pilote agricole, terminal de commande et support d'informations - Google Patents

Procédé destiné à commander un véhicule aérien sans pilote agricole, terminal de commande et support d'informations Download PDF

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Publication number
WO2020061738A1
WO2020061738A1 PCT/CN2018/107300 CN2018107300W WO2020061738A1 WO 2020061738 A1 WO2020061738 A1 WO 2020061738A1 CN 2018107300 W CN2018107300 W CN 2018107300W WO 2020061738 A1 WO2020061738 A1 WO 2020061738A1
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WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
agricultural unmanned
heading
target area
Prior art date
Application number
PCT/CN2018/107300
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English (en)
Chinese (zh)
Inventor
黄宗继
Original Assignee
深圳市大疆软件科技有限公司
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 深圳市大疆软件科技有限公司 filed Critical 深圳市大疆软件科技有限公司
Priority to PCT/CN2018/107300 priority Critical patent/WO2020061738A1/fr
Priority to CN201880042265.4A priority patent/CN111095154A/zh
Publication of WO2020061738A1 publication Critical patent/WO2020061738A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance

Definitions

  • This specification relates to the technical field of unmanned aerial vehicles, and in particular, to a control method, a control terminal, and a storage medium for an agricultural unmanned aerial vehicle.
  • a user can control an unmanned aerial vehicle by controlling a ground control terminal, for example, controlling a flying mode, a flying speed, and a flying height of the unmanned aerial vehicle.
  • a ground control terminal for example, controlling a flying mode, a flying speed, and a flying height of the unmanned aerial vehicle.
  • agricultural drones because of its advantages such as simple operation and high work efficiency, it has been widely used in the field of agricultural plant protection. For example, agricultural drones can be used to spray pesticides and sow seeds.
  • This specification provides a control method, a control terminal, and a storage medium for an agricultural unmanned aerial vehicle, which are used to solve the existing problems in the prior art that when the control terminal is used to control the flight course of an agricultural drone, only the flight can be achieved. Rough course adjustment, lower adjustment accuracy.
  • the first aspect of the present specification is to provide a method for controlling an agricultural unmanned aerial vehicle.
  • the agricultural unmanned aerial vehicle is controlled by a control terminal, and the control terminal is provided with a user interface.
  • An operation icon for fine-tuning the drone's heading, the method includes:
  • the course of the agricultural unmanned aerial vehicle is controlled according to the course fine-tuning parameter.
  • the second aspect of this specification is to provide a control terminal, including:
  • a processor for running a computer program stored in the memory to implement:
  • the course of the agricultural unmanned aerial vehicle is controlled according to the course fine-tuning parameter.
  • the third aspect of the present specification is to provide a control device for an agricultural unmanned aerial vehicle.
  • the agricultural unmanned aerial vehicle is controlled by a control terminal, and the control terminal is provided with a user interface.
  • Operation icon for fine-tuning the drone's heading, the device includes:
  • An obtaining module configured to obtain the heading fine-tuning information input by the user for the operation icon
  • a determining module configured to determine a course fine-tuning parameter of the agricultural unmanned aerial vehicle according to the course fine-tuning information
  • a control module configured to control the course of the agricultural unmanned aerial vehicle according to the course fine-tuning parameters.
  • a fourth aspect of the present specification is to provide a storage medium.
  • the storage medium is a computer-readable storage medium.
  • the computer-readable storage medium stores program instructions, and the program instructions are used to implement the first aspect. Control method of agricultural unmanned aerial vehicle.
  • the control method, control terminal, and storage medium of the agricultural unmanned aerial vehicle provided in this manual obtain the heading fine-tuning information input by the user for the operation icon, determine the heading fine-tuning parameters of the agricultural drone based on the heading fine-tuning information, and then use
  • the agricultural unmanned aerial vehicle's heading is controlled to realize the fine-tuning control of the agricultural unmanned aerial vehicle's heading, which improves the accuracy of the heading adjustment, guarantees the quality and efficiency of agricultural unmanned aerial vehicle operations, and effectively improves the practicality of the method. Sex.
  • FIG. 1 is a schematic flowchart of a method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 2 is a schematic flowchart of determining a course fine-tuning parameter of the agricultural unmanned aerial vehicle according to the course fine-tuning information according to an embodiment of the present specification
  • FIG. 3 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 4 is a schematic flowchart of another control method of an agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 5 is a schematic flowchart of determining a target area where the agricultural unmanned aerial vehicle needs to perform operations according to an embodiment of the present specification
  • FIG. 6 is a schematic flowchart of generating a flight path corresponding to the target area according to the course and position information of the agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 7 is a schematic flowchart of generating the flight path according to a second mark point and the first mark point for identifying the position information according to an embodiment of the specification;
  • FIG. 8 is a first schematic flowchart of a flight path generated according to a second mark point for identifying the position information and the first mark point according to an embodiment of the specification;
  • FIG. 9 is a second schematic flow chart of the flight path generated according to a second marker point for identifying the position information and the first marker point according to an embodiment of the specification;
  • FIG. 10 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification.
  • FIG. 11 is a schematic diagram of performing meshing processing on the target area according to an embodiment of the present specification.
  • FIG. 12 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 13 is a schematic structural diagram of a control device for an agricultural unmanned aerial vehicle according to an embodiment of the present specification
  • FIG. 14 is a schematic structural diagram of a control terminal according to an embodiment of the present specification.
  • FIG. 1 is a schematic flow chart of a method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the specification
  • FIG. 2 is a schematic flow chart for determining a fine-tuning parameter of an agricultural unmanned aerial vehicle based on fine-tuning information provided by an embodiment of the specification
  • this embodiment provides a method for controlling an agricultural unmanned aerial vehicle.
  • the agricultural unmanned aerial vehicle is controlled by a control terminal.
  • the control terminal provides a user interface. Operation icon for fine-tuning the aircraft's heading. This operation icon is used to fine-tune the heading of the agricultural unmanned aerial vehicle, and the adjustment range achieved can be small.
  • the control method may include:
  • the execution subject of this embodiment may be a control terminal for controlling an agricultural unmanned aerial vehicle.
  • the control terminal may include at least one of the following: head-mounted display glasses (VR glasses, VR helmets, etc.), a mobile phone, and a remote controller (such as a belt Display's remote control), smart bracelet, tablet.
  • a remote controller with a display screen is taken as an example to introduce the principle of a control method for an agricultural unmanned aerial vehicle.
  • the remote controller with a display screen provided in this embodiment is provided with a user interface. In response to a user operation, a fine-tuning sub-interface is displayed on the user interface.
  • the interface may include an operation icon for fine-tuning the agricultural unmanned aerial vehicle ’s heading.
  • the operation icon includes at least one of the following: a slide icon, a rotation icon, a click icon, and a dialog box for inputting information.
  • the interface performs corresponding operations on the operation icons to further determine the heading fine-tuning information input by the user.
  • the heading fine-tuning information may include at least one of the following: slide operation information, rotation operation information, click operation information, and text information.
  • the fine-tuning operation icons can also appear directly on the user operation interface, which is not limited in this manual.
  • the obtained heading fine-tuning information input by the user is sliding operation information
  • the sliding operation information may include up-down sliding information or left-right sliding information, and so on.
  • the operation icon is a rotation icon
  • the obtained heading fine-tuning information input by the user is rotation operation information
  • the rotation operation information may include: clockwise rotation operation information or counterclockwise rotation operation information, and the like.
  • the operation icon is a click icon
  • the obtained heading fine-tuning information input by the user is click operation information.
  • the click icon includes: a first click area used to identify an increase / decrease and a decrease / decrease to indicate the decrease.
  • the obtained click operation information may include: a click operation on the first click area or a click operation on the second click area.
  • the operation icon is a dialog box for inputting information
  • the obtained heading fine-tuning information input by the user is text information.
  • S102 Determine the course fine-tuning parameters of the agricultural unmanned aerial vehicle according to the course fine-tuning information
  • determining the course fine-tuning parameters of the agricultural unmanned aerial vehicle based on the course fine-tuning information may include:
  • the heading adjustment accuracy may be a preset fixed accuracy, or the heading adjustment accuracy may be an adjustable accuracy that can be adjusted by changing.
  • the value of the heading adjustment accuracy is not limited. Those skilled in the art can set the value according to specific design requirements.
  • the heading adjustment accuracy can be 0.01 °, 0.02 °, 0.05 °, 0.1 °, 0.2 °. , 0.5 °, etc., as long as it can meet the needs of users to fine-tune the course.
  • the heading adjustment accuracy can be stored in a preset storage area corresponding to the operation icon.
  • the heading adjustment accuracy can be obtained by accessing the preset storage area, and the heading adjustment accuracy can be fixed. Precision, or adjustable precision preset for the user.
  • the user interface may further include a precision adjustment operation icon.
  • the precision adjustment operation icon may be displayed by performing a preset operation on the fine-tuned operation icon.
  • the preset operation may include at least one of the following: selecting the operation icon for a long time, performing a click operation on the operation icon, double-clicking the operation icon, performing a sliding operation on the operation icon (eg, sliding left or right, etc. ) Wait, after the precision adjustment operation icon is displayed on the user interface, the user can set a specific adjustment precision by operating the precision adjustment operation icon.
  • S1022 Determine the heading fine-tuning parameters of the agricultural unmanned aerial vehicle according to the heading adjustment accuracy and the heading fine-tuning information.
  • the heading adjustment information and the heading adjustment accuracy can be analyzed and processed, so that the heading adjustment parameters of the agricultural unmanned aerial vehicle can be determined.
  • the heading fine-tuning information input by the user is sliding operation information
  • the heading fine-tuning parameters can be determined through the sliding operation information and the corresponding heading adjustment accuracy.
  • the accuracy can be fixed accuracy or
  • the determined heading fine-tuning parameter at this time can be 5 * 0.05, which is 0.25 °.
  • the heading fine-tuning parameters can be determined by the rotation operation information and the corresponding heading adjustment accuracy. For example, when the heading adjustment accuracy is 0.02 °, the rotation area corresponding to the heading fine-tuning information is 8 For each unit, the heading fine-tuning parameter determined at this time can be 8 * 0.02, which is 0.16 °.
  • the heading fine-tuning parameters can be determined through the click operation information and the corresponding heading adjustment accuracy.
  • the heading fine-tuning parameter determined at this time can be 2 * 0.1, which is 0.2 °.
  • the heading fine-tuning parameters can be determined through the text information entered in the dialog box and the corresponding heading adjustment accuracy. For example, when the heading adjustment accuracy is 0.5 °, the heading fine-tuning When the text information corresponding to the message corresponds to 3 units, the determined course fine-tuning parameter at this time can be 3 * 0.5, which is 1.5 °.
  • the heading fine-tuning parameters may also be related to the spray setting parameters and flight parameters of the agricultural unmanned aerial vehicle.
  • Spraying setting parameters include spraying pressure, nozzle type, atomization degree of sprayed objects, etc.
  • Flight parameters include the relative altitude of agricultural unmanned aerial vehicle, equivalent wind pressure of propeller, etc. By spraying pressure, nozzle diameter, atomization of spraying combined with the relative height of agricultural unmanned aerial vehicle, the time of spraying the landing can be calculated.
  • Fine-tuning parameters for the heading can be determined by the spraying object landing time combined with the current wind and direction. The fine-tuning parameters are used to offset the impact of external wind on the ground spray during the time when the spray falls.
  • control end collects the spray setting parameters, flight parameters, and wind and wind direction parameters of the agricultural unmanned aerial vehicle, obtains the recommended values of the fine-tuning parameters according to these parameters, and displays the fine-tuning parameters to the user of the control end. .
  • the user can configure the autonomous mode of the agricultural unmanned aerial vehicle.
  • the user can adjust the fine-tuning mode in the user interface, and then automatically set the fine-tuning operation based on the calculated fine-tuning parameters by spraying setting parameters, flight parameters, and external wind and wind direction parameters.
  • control end obtains the fine-tuning parameters according to the calculation, and readjusts the adjustment precision to ensure that the adjustment precision is an order of magnitude lower than the fine-tuning parameters to ensure the accuracy of the adjustment.
  • S103 Control the course of the agricultural unmanned aerial vehicle according to the course fine-tuning parameters.
  • the course of the agricultural unmanned aerial vehicle can be fine-tuned and controlled based on the course fine-tuning parameters.
  • the following describes the control method of agricultural unmanned aerial vehicle with specific application scenarios:
  • an agricultural unmanned aerial vehicle is used to perform spraying operation in a preset spraying area.
  • the spraying operation it is affected by environmental factors, wherein the environmental factors include: weather factors, air quality Wait, a small area of the spray area may be missed.
  • the environmental factors include: weather factors, air quality Wait, a small area of the spray area may be missed.
  • the actual position of the spray is easy to deviate from the expected under the influence of wind speed.
  • the spraying position is caused by the unsprayed area in the spraying area.
  • the unsprayed area is irregular and relatively small; or, because the spraying operation often uses the downforce of the propeller to make the sprayed object fly towards Below the aircraft, therefore, when the wind is affected, the sprayed material often deviates from the sprayed area, causing waste of the sprayed material. This is especially true when spraying operations on sparsely planted crops.
  • the above method can be used to achieve fine adjustment of the agricultural unmanned aerial vehicle's heading.
  • the fine-tuned controlled agricultural unmanned aerial vehicle can achieve flight operation in any one of the headings.
  • the heading of the agricultural unmanned aerial vehicle can be adjusted to correspond to the area not sprayed, so as to implement the spraying operation on the area not sprayed; at the same time, the effect of wind on the spraying point can be offset by fine-tuning the heading. To improve the spraying efficiency and reduce the waste of spraying materials.
  • an agricultural unmanned aerial vehicle is used to perform a spraying operation in a preset spraying area.
  • the spraying area due to the influence of the shape factors of the spraying area, for example, the spraying area has an irregular shape .
  • the convex narrow area or triangular area may have omitted spray areas; at this time, the above method can be used to achieve
  • the agricultural drone's heading is finely adjusted.
  • the agricultural drone after fine-tuning control can achieve any one of the flight operations. Specifically, the agricultural drone's heading can be adjusted to correspond to the missing spray area to achieve Spraying on the missing spraying area.
  • the method for controlling an agricultural unmanned aerial vehicle obtains the heading fine-tuning information input by a user for an operation icon, determines the heading fine-tuning parameters of the agricultural unmanned aerial vehicle according to the heading fine-tuning information, and then uses the heading fine-tuning parameters to control the agricultural unmanned aerial vehicle.
  • the heading is controlled to realize the fine-tuning control of the agricultural unmanned aerial vehicle.
  • the accuracy of the heading adjustment is improved, the quality and efficiency of the agricultural drone operation are guaranteed, and the practicability of the method is effectively improved.
  • FIG. 3 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification. Based on the foregoing embodiment, referring to FIG. 3, it can be known that before obtaining the heading fine-tuning information input by the user for the operation icon, The method in this embodiment further includes:
  • the user interface further includes: an operation icon for receiving a heading adjustment request, and the operation icon may include at least one of the following: a slide icon, a rotation icon, a click icon, and a dialog box for inputting information; the heading adjustment request may be used for Control whether the fine-tuned operation icons are displayed in the user interface.
  • the heading adjustment request includes at least one of the following: slide operation information, rotation operation information, click operation information, and text information.
  • S202 Control the user interface to display an operation icon for finely adjusting the course of the agricultural unmanned aerial vehicle according to the course adjustment request.
  • the user interface may be controlled to display the operation icon for fine adjustment according to the heading adjustment request; for example, when the operation icon in the user interface for receiving the heading adjustment request is a sliding icon, at this time
  • the heading adjustment request may be sliding operation information.
  • the user interface can be controlled to display operation icons for fine-tuning the agricultural unmanned aerial vehicle's heading.
  • the heading adjustment request at this time may be rotation operation information.
  • the rotation operation information for example: clockwise rotation operation, counterclockwise rotation operation, etc.
  • the user interface can be controlled to display operation icons for finely adjusting the course of the agricultural unmanned aerial vehicle.
  • the operation icon for receiving a heading adjustment request in the user interface is a click icon
  • the heading adjustment request at this time may be a click operation information.
  • the operation icon for receiving a heading adjustment request in the user interface When it is detected that there is execution of an operation icon for receiving a heading adjustment request in the user interface
  • you click the operation information such as: click operation, double-click operation, etc.
  • the operation icon for receiving the heading adjustment request in the user interface is a dialog box for inputting information
  • the heading adjustment request at this time may be text information input by the user.
  • the user interface can be controlled to display the information for the agricultural unmanned Operation icon for fine-tuning the aircraft heading.
  • the operation icon for fine adjustment is made a sub-icon of the operation icon for receiving the heading adjustment request, which effectively implements display control of the operation icon for fine adjustment by the user interface, that is, when the fine adjustment of the heading is required, the user interface is controlled.
  • FIG. 4 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the specification
  • FIG. 5 is a schematic flowchart of determining a target area where an agricultural unmanned aerial vehicle needs to perform operations provided by an embodiment of the specification
  • FIG. 6 is The flow chart of generating a flight path corresponding to the target area based on the heading and position information of the agricultural unmanned aerial vehicle provided in the embodiment of this specification is shown in FIG. 7;
  • determining a target area for agricultural unmanned aerial vehicle operations may include:
  • the area setting operation includes at least one of the following: a sliding operation and a point value input operation.
  • a sliding operation and a point value input operation.
  • those skilled in the art can also set the area setting operation to other parameter information, as long as the target area can be determined according to the area setting operation.
  • S3012 Determine the target area according to the area setting operation.
  • a user may perform a sliding operation on a user interface, and determine a target area according to a trajectory formed by the sliding operation.
  • a trajectory formed by the sliding operation is a closed circle, square, or other irregular shape
  • the closed circle area, square area, or other irregular shape area may be determined as the target area.
  • the trajectory formed by the sliding operation is a non-closed curve
  • the trajectory formed by the sliding operation includes: a first line on the left, a second line on the upper side, a third line on the right, and a fourth line on the lower side Lines
  • the adjacent endpoints of the two adjacent lines can be connected according to a preset algorithm, and the connection can be made by a smooth transition connection, or a direct connection, etc .; so that the above four lines Forms a closed area, which is the target area.
  • the user can enter multiple point values on the user interface, each point value is the edge of the trajectory of the target area.
  • the multiple point values entered by the user are fitted to determine the Closed lines corresponding to multiple point values, and the area formed by the closed lines is the target area.
  • the multiple point values entered by the user can be any point in the target area. Therefore, after obtaining the multiple point values entered by the user, the multiple point values are analyzed and processed to obtain the multiple point values.
  • the multiple edge point values of the edge part are subjected to the fitting processing on the multiple edge point values to determine a closed line corresponding to the multiple edge point values, and the area formed by the closed line is the target area.
  • the position information of the agricultural unmanned aerial vehicle within the target area can be detected by a positioning device provided on the agricultural unmanned aerial vehicle, so as to facilitate the analysis of the agricultural unmanned aerial vehicle based on the position information. Control the operation mode.
  • S303 Generate a flight path corresponding to the target area according to the heading and position information of the agricultural unmanned aerial vehicle.
  • the user interface at this time may also display at least one of the following information: a first marker point for identifying the target area; for identifying a flight path corresponding to the target area; for A movable marker for identifying the heading of the agricultural unmanned aerial vehicle; a second marking point for identifying the position information of the agricultural unmanned aerial vehicle.
  • the movable mark includes an icon or a cursor.
  • generating a flight path corresponding to the target area based on the heading and position information of the agricultural unmanned aerial vehicle may include:
  • S3031 along the course of the agricultural unmanned aerial vehicle, determine a first marker point opposite to the position information in the boundary of the target area, and the distance between the first marker point and the position information is greater than or equal to a preset distance threshold;
  • S3032 Generate a flight path according to the second mark point and the first mark point for identifying the position information.
  • the position information and the first marker point are analyzed and processed to generate a flight path, where an implementable manner is: according to the second marker point for identifying the position information And the first marker point to generate a flight path, including:
  • S30321 Generate a flying line segment according to the first marked point and the second marked point;
  • the first mark point and the second mark point are connected, so that a flight line segment can be obtained.
  • S30322 Polyline processing is performed on the target area according to a preset operation interval and flight line segments to generate a flight path.
  • the position information of the agricultural unmanned aerial vehicle 41 in the target area is point C, where point C is close to point A and away from point B.
  • the course of the agricultural unmanned aerial vehicle 41 is toward the Y direction .
  • the first mark point opposite to the position information in the boundary of the target area can be determined as point B, and the distance between point C and point B is determined to be greater than a preset distance threshold, and then the point B can be connected with
  • the flight line segment is formed.
  • the target area can be folded according to the preset operation interval L and the flight line segment CB.
  • the flight line segment CB is parallel to the line segment
  • the end points of the line segment of the parallel portion can use the boundary points of the target area, so that the flight path 42 can be corresponding to the entire target area, and a square wave line as shown in FIG. 8 can be generated.
  • the square wave line is Is the generated flight path 42, and the flight path 42 at this time corresponds to the entire target area, that is, the agricultural unmanned aerial vehicle is controlled to operate according to the flight path 42. When the work can be achieved for all of the target area.
  • the position information of the agricultural unmanned aerial vehicle 41 in the target area is point C, where point C is close to point A and away from point B, and the course of the agricultural unmanned aerial vehicle 41 is oriented In the -Y direction, then along the -Y direction, the first marked point opposite to the position information in the boundary of the target area can be determined as point A, however, the distance between point C and point A at this time is less than a preset distance threshold That is, the flight line segment formed between point C and point A is short. At this time, if the flight path is generated according to the flight line segment, the accuracy of the generated flight path is not high.
  • the first mark opposite to the position information may be further determined in the boundary of the target area along the heading away from the agricultural unmanned aerial vehicle.
  • the first marked point determined again is still point B, and the flight path 42 can be generated by referring to the above manner, thereby effectively ensuring the accuracy and reliability of the flight path generation.
  • generating the flight path according to the second mark point and the first mark point for identifying the position information may include:
  • S30323 Operate the second marker point and the first marker point for identifying the position information to generate a flight path.
  • the operation on the second mark point and the first mark point for identifying the position information includes at least one of the following: sliding from the first mark point to the second mark point; sliding from the second mark point to the first mark point ; First click the first marked point, then click the second marked point; first click the second marked point, and then click the first marked point.
  • the user may also operate the second marker point B and the first marker point A on the user interface to generate a flight path.
  • the user For example, the user ’s finger moves from the first marker point on the user interface. A slides to the second marking point B, which indicates that the flight path 42 of the agricultural unmanned aerial vehicle 41 at this time is trajectory information from the first marking point A to the second marking point B. If the user slides his finger from the second mark point B to the first mark point A on the user interface, it means that the flight path 42 of the agricultural unmanned aerial vehicle 41 at this time is the trajectory information from the second mark point B to the first mark point A. .
  • the flight path 42 of the agricultural drone 41 at this time is from the first marked point A to the second marked point.
  • B's trajectory information If the user's finger first clicks on the second marked point B on the user interface and then clicks on the first marked point A, it means that the flight path 42 of the agricultural unmanned aerial vehicle 41 at this time points from the second marked point B to the first marked point A. Track information. It should be noted that the flight path 42 at this time corresponds to a part of the target area 43.
  • the course of the agricultural unmanned aerial vehicle 41 can be fine-tuned, and then the fine-tuned agricultural unmanned aerial vehicle 41 and the The other first marked points on the target area 43 constitute another flight path, and then the operation is repeated to obtain multiple flight paths corresponding to the target area 43.
  • the agricultural unmanned aerial vehicle 41 can also be directly controlled to move at a preset interval The distance makes the agricultural unmanned aerial vehicle 41 deviate from the predetermined flight path 42, and then can continue to determine the flight path corresponding to the target area 43 of other parts in the manner described above, as shown in FIG. 9 to control according to the flight path
  • the agricultural unmanned aerial vehicle 41 completes operations on the entire target area 43.
  • the method further includes:
  • S401 Control the agricultural unmanned aerial vehicle to operate the target area according to the flight path.
  • the generation of the flight path is mainly used to limit the operation mode of the agricultural unmanned aerial vehicle. Therefore, after the flight path is generated, the agricultural unmanned aerial vehicle can be controlled to operate the target area according to the flight path, which effectively guarantees the operation quality. And efficiency.
  • a flight path can be generated by any of the above methods, and the generated flight path can correspond to all or part of the target area, so that the generation method of the flight path is flexible and changeable, which is convenient for users to choose. It is beneficial to adjust the operation mode of agricultural unmanned aerial vehicle, and further improves the practicability of the method.
  • FIG. 10 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification. Based on the above embodiment, reference is continued to FIG. 10.
  • the method in this embodiment further includes:
  • S501 Grid the target area to obtain one or more grid areas
  • a target region 43 exists, and the target region 43 is subjected to meshing processing.
  • a plurality of multiple mesh regions 431 may have the same size or different sizes.
  • S502 Control the agricultural unmanned aerial vehicle to operate according to the grid area.
  • the human aircraft performs operations in the second grid area on the left side of the upper end.
  • the specific operation method is the same as the above method, and will not be repeated here.
  • the method may further include: after gridding the target area to obtain one or more grid areas, obtaining the degree of importance or job requirement corresponding to each grid area, where the degree of importance and The degree of job demand can be comprehensively judged based on the geographical location of the grid area, the environmental information of the grid area, the current quality and current requirements of the grid area, and the preset job quality and preset job requirements of the grid area. ; After obtaining the degree of importance or operation demand, all grid regions can be arranged in descending order according to the degree of importance or operation demand, and then the agricultural unmanned aerial vehicle can be controlled to operate according to the sorted grid region.
  • This method can be used in In the case of limited operating time and materials, the operation quality can be guaranteed to the greatest extent, and the corresponding operating requirements can be met, which further improves the practicability of the method.
  • the method may further include:
  • S601 Detect whether an obstacle exists in the target area, and the obstacle includes at least one of the following: a bridge, a building, a river, a mountain, and a wood.
  • the tester can carry the control terminal. (For example: remote control) walking inside the target area.
  • the tester finds an obstacle point such as a large tree or an obstacle area such as a fish pond
  • the tester can mark the position through the control terminal, for example: test The person clicks the "add obstacle" icon to realize that the subsequent positioning information through the GPS positioning module is the positioning information of the obstacle in the target area.
  • the GPS positioning module locates the position of the obstacle point.
  • the tester needs to walk along the boundary of the obstacle area.
  • the GPS positioning module performs real-time or periodic positioning.
  • the control terminal displays the positioning information on the user interface in real time. After the tester walks along the boundary of the obstacle area, he obtains the obstacle boundary in the target area, thereby detecting the target area. The process of whether there is an obstacle inside, when the obstacle is detected, the information of the area where the obstacle is located is obtained.
  • those skilled in the art can also use other methods to detect obstacles, for example: scanning the target area by an agricultural unmanned aerial vehicle, obtaining a panoramic picture corresponding to the target area, and analyzing the panoramic picture by Recognition to detect the presence of obstacles in the target area and so on.
  • FIG. 12 is a schematic flowchart of another method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present specification. Based on the foregoing embodiment, referring to FIG. 12, it can be known that the method in this embodiment further includes:
  • S701 Obtain obstacle position information of the obstacle when an obstacle is detected in the target area
  • the obstacle position information where the obstacle is located may be obtained in the same manner as the above step S601, or the obstacle position information may also be obtained through other methods, for example, after analyzing and identifying the panoramic picture, it may be obtained Obtain the picture location information of the obstacle in the panoramic picture, obtain the correspondence between the picture location information in the panorama picture and the actual location information, and determine the obstacle where the obstacle is located according to the correspondence and the picture location information of the obstacle in the panorama picture Object location information.
  • the agricultural unmanned aerial vehicle can be controlled to stop operations, for example, to stop spraying operations and the like.
  • the method may further include:
  • a flight path can be generated to bypass the obstacle position information, the agricultural unmanned aerial vehicle is controlled to fly according to the flight path, and the agricultural unmanned aerial vehicle is effectively avoided from the obstacle.
  • the course of the agricultural unmanned aerial vehicle can be adjusted according to a preset strategy. Specifically, first, the course of the agricultural unmanned aerial vehicle can be roughly adjusted to avoid the obstacle; Next, you can fine-tune the agricultural unmanned aerial vehicle to ensure the quality of operations in the target area.
  • Controlling the operation of agricultural unmanned aerial vehicles in the above manner not only ensures the safety and reliability of agricultural unmanned aerial vehicle operations, but also effectively improves the quality and efficiency of operations, thereby ensuring the stability and reliability of this method, which is beneficial to Market promotion and application.
  • FIG. 13 is a schematic structural diagram of a control device for an agricultural unmanned aerial vehicle according to an embodiment of the specification.
  • another aspect of this embodiment provides a control device for an agricultural unmanned aerial vehicle.
  • the unmanned aerial vehicle is controlled by a control terminal.
  • the control terminal provides a user interface.
  • the user interface includes operation icons for fine-tuning the agricultural unmanned aerial vehicle's heading.
  • the device includes:
  • An obtaining module 101 configured to obtain the heading fine-tuning information input by a user for an operation icon
  • a determining module 102 configured to determine a course fine-tuning parameter of the agricultural unmanned aerial vehicle according to the course fine-tuning information
  • the control module 103 is configured to control the course of the agricultural unmanned aerial vehicle according to the course fine-tuning parameters.
  • control device for the agricultural unmanned aerial vehicle provided in this embodiment can be used to execute the method corresponding to the embodiment in FIG. 1 to FIG. 12.
  • the specific implementation manner and beneficial effects thereof are similar, and are not repeated here.
  • FIG. 14 is a schematic structural diagram of a control terminal according to an embodiment of the present specification. As can be seen with reference to FIG. 14, another aspect of this embodiment provides a control terminal, including:
  • a memory 301 configured to store a computer program
  • the processor 302 is configured to run a computer program stored in the memory 301 to implement:
  • Display the user interface which includes operation icons for fine-tuning the course of the agricultural unmanned aerial vehicle
  • the operation icons include at least one of the following: a slide icon, a rotation icon, a click icon, and a dialog box for inputting information.
  • the heading fine-tuning information includes at least one of the following: slide operation information, rotation operation information, click operation information, and text information.
  • the processor 302 determines the course fine-tuning parameters of the agricultural unmanned aerial vehicle according to the course fine-tuning information
  • the processor 302 is configured to:
  • the heading fine-tuning parameters of the agricultural unmanned aerial vehicle are determined.
  • the heading adjustment accuracy is a preset fixed accuracy or adjustable accuracy.
  • the processor 302 is configured to:
  • the user interface is controlled to display an operation icon for finely adjusting the heading of the agricultural unmanned aerial vehicle.
  • the user interface further includes: an operation icon for receiving a heading adjustment request.
  • the heading adjustment request includes at least one of the following: slide operation information, rotation operation information, click operation information, and text information.
  • the processor 302 is configured to:
  • a flight path corresponding to the target area is generated based on the heading and position information of the agricultural unmanned aerial vehicle.
  • the flight path corresponds to the entire target area; or the flight path corresponds to a part of the target area.
  • the processor 302 is configured to:
  • the area setting operation includes at least one of the following: a sliding operation and a point value input operation.
  • the user interface includes at least one of the following: a first marking point for identifying the target area; a flight path corresponding to the target area; a movable mark for identifying the heading of the agricultural unmanned aerial vehicle; and a mark for identifying The second marked point of the agricultural drone's position information.
  • the movable mark includes an icon or a cursor.
  • the processor 302 when the processor generates a flight path corresponding to the target area according to the heading and position information of the agricultural unmanned aerial vehicle, the processor 302 is configured to:
  • a first mark point opposite to the position information is determined in the boundary of the target area, and the distance between the first mark point and the position information is greater than or equal to a preset distance threshold;
  • a flight path is generated based on the second mark point and the first mark point for identifying the position information.
  • the processor 302 when the processor 302 generates the flight path according to the second marker point and the first marker point for identifying the position information, the processor 302 is configured to:
  • Polyline processing is performed on the target area according to a preset operation interval and flight line segments to generate a flight path.
  • the processor 302 when the processor 302 generates a flight path according to the second marker point and the first marker point for identifying the position information, the processor 302 is configured to:
  • the second mark point and the first mark point for identifying the position information are operated to generate a flight path.
  • the processor 302 when the processor 302 operates the second mark point and the first mark point for identifying the position information, the processor 302 is used for at least one of the following: sliding from the first mark point to the second mark point; Slide the second marked point to the first marked point; click the first marked point first, then click the second marked point; first click the second marked point, and then click the first marked point.
  • the processor 302 is configured to:
  • the processor 302 is used to:
  • processor 302 is configured to:
  • Detect whether there is an obstacle in the target area includes at least one of the following: bridges, buildings, rivers, mountains, and woods.
  • processor 302 is further configured to:
  • the agricultural unmanned aerial vehicle When the agricultural unmanned aerial vehicle is located at the obstacle position information, the agricultural unmanned aerial vehicle is controlled to stop operating.
  • processor 302 is further configured to:
  • the agricultural unmanned aerial vehicle When the agricultural unmanned aerial vehicle is located at the obstacle position information, the agricultural unmanned aerial vehicle is controlled to perform obstacle avoidance flight.
  • control terminal provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 1 to FIG. 12.
  • the specific implementation manners and beneficial effects are similar, and are not repeated here.
  • the storage medium is a computer-readable storage medium.
  • the computer-readable storage medium stores program instructions.
  • the program instructions are used to implement the control method for the agricultural unmanned aerial vehicle. .
  • the related remote control device and method disclosed may be implemented in other ways.
  • the embodiments of the remote control device described above are only schematic.
  • the division of the module or unit is only a logical function division.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of the remote control device or unit, and may be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • each functional unit in each embodiment of the present specification may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or in the form of software functional unit.
  • the integrated unit When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of this specification is essentially a part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium. It includes several instructions for causing the computer processor 101 (processor) to perform all or part of the steps of the method described in the embodiments of the present specification.
  • the foregoing storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

L'invention concerne un procédé destiné à commander un véhicule aérien sans pilote agricole, un terminal de commande et un support d'informations. Le véhicule aérien sans pilote agricole est commandé par le terminal de commande. Le terminal de commande assure une interface d'utilisateur. L'interface d'utilisateur comprend des icônes d'opération destinées à régler finement la direction du véhicule aérien sans pilote agricole. Le procédé consiste : à acquérir des informations de réglage fin de direction entrées par un utilisateur pour une icône d'opération (S101); en fonction des informations de réglage fin de direction, à déterminer des paramètres de réglage fin de direction du véhicule aérien sans pilote agricole (S102); à commander la direction du véhicule aérien sans pilote agricole en fonction des paramètres de réglage fin de direction (S103).
PCT/CN2018/107300 2018-09-25 2018-09-25 Procédé destiné à commander un véhicule aérien sans pilote agricole, terminal de commande et support d'informations WO2020061738A1 (fr)

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PCT/CN2018/107300 WO2020061738A1 (fr) 2018-09-25 2018-09-25 Procédé destiné à commander un véhicule aérien sans pilote agricole, terminal de commande et support d'informations
CN201880042265.4A CN111095154A (zh) 2018-09-25 2018-09-25 农业无人飞行器的控制方法、控制端及存储介质

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PCT/CN2018/107300 WO2020061738A1 (fr) 2018-09-25 2018-09-25 Procédé destiné à commander un véhicule aérien sans pilote agricole, terminal de commande et support d'informations

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WO2022141043A1 (fr) * 2020-12-29 2022-07-07 深圳市大疆创新科技有限公司 Procédé et appareil de planification de pulvérisation de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage

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