WO2020113443A1 - 农业植保无人机和农业植保无人机的控制方法 - Google Patents
农业植保无人机和农业植保无人机的控制方法 Download PDFInfo
- Publication number
- WO2020113443A1 WO2020113443A1 PCT/CN2018/119235 CN2018119235W WO2020113443A1 WO 2020113443 A1 WO2020113443 A1 WO 2020113443A1 CN 2018119235 W CN2018119235 W CN 2018119235W WO 2020113443 A1 WO2020113443 A1 WO 2020113443A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- plant protection
- agricultural plant
- protection drone
- information
- flight controller
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 74
- 238000004891 communication Methods 0.000 claims abstract description 48
- 230000004913 activation Effects 0.000 claims description 80
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Definitions
- the present disclosure relates to the field of computer technology, and in particular, to an agricultural plant protection drone and an agricultural plant protection drone control method.
- UAV is an unmanned aerial vehicle operated by radio remote control equipment or its own program control device.
- radio remote control equipment or its own program control device.
- UAVs are widely used in agriculture, forestry, electric power, surveying and mapping, telemetry and other industries due to their fast speed and flexible operation.
- the purpose of the present disclosure is to provide an agricultural plant protection drone and an agricultural plant protection drone control method, so as to overcome, at least to a certain extent, one or more problems caused by limitations and defects of related technologies.
- an agricultural plant protection drone including: a power device for providing flying power to the unmanned aerial vehicle; a flight controller electrically connected to the power device for For controlling the power device to adjust the flight attitude; and, a communication device for communicating with the control terminal of the agricultural plant protection drone, the communication device is electrically connected with the flight controller, wherein, the flight control The control mode of the power device controls the power device, including a normal mode and a restricted mode.
- the flight controller determines whether to enter the locked state according to the user's operation information; the communication device controls the control terminal The control mode selection request instruction sent to the flight controller; the flight controller selects the normal mode or the restricted mode according to the control mode selection request instruction; the flight controller according to the selected control Mode to control the power device to provide flight power.
- a method for controlling an agricultural plant protection drone comprising: receiving a selection request instruction of a control mode sent by a control terminal; and selecting a request instruction according to the control mode, Select normal mode or restricted mode; control the power device to provide flight power according to the selected control mode.
- an agricultural plant protection drone including: a power device for providing flight power to the unmanned aerial vehicle; a flight controller electrically connected to the power device for For controlling the power device to adjust the flight attitude; and, a sensor for acquiring operation-related information during the operation of the agricultural plant protection drone, the sensor is in communication connection with the flight controller, wherein the flight controller Control modes for controlling the power device, including a normal mode and a restricted mode, in which the flight controller determines whether to control the power device to provide flight power based on the user's work information; the flight controller Determine the operational information of the agricultural plant protection drone based on the operational information obtained by the sensor; the flight controller determines whether to automatically exit the restricted mode and enter the normal mode based on the total amount of the operational information .
- a control method for an agricultural plant protection drone includes: acquiring operation related information obtained by a sensor, and determining the agricultural plant protection drone according to the operation related information According to the total amount of the operated information, determine whether to automatically exit the restricted mode and enter the normal mode; wherein, in the restricted mode, based on the user's operating information, determine whether to control the power device to provide flight power.
- the control mode of the power plant of the agricultural plant protection drone can be switched by the flight controller according to the specific operation information, which is convenient for the agricultural plant protection drone manufacturer to effectively control Man-machine use authority; on the other hand, by setting the control mode of the power plant to normal mode and restricted mode, the user can use the agricultural plant protection drone through multiple recharges when the control mode of the drone is in restricted mode Carrying out agricultural operations reduces the cost of a one-time purchase by the user, and when the total amount of agricultural plant protection drones has reached a certain value, the control mode of the agricultural plant protection drones can be converted to a normal mode, without restrictions from manufacturers. Further improve the user experience.
- FIG. 1 schematically shows a structural schematic diagram of applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 2 schematically shows a schematic flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 3 schematically shows a flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 4 schematically shows a flowchart of an activation method for applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 5 schematically shows a structural schematic diagram of applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 6 schematically shows a schematic flowchart of a control method for applying an agricultural plant protection drone according to some embodiments of the present disclosure
- FIG. 7 schematically shows a flowchart of an activation method for applying an agricultural plant protection drone according to some embodiments of the present disclosure.
- the invention discloses an unmanned aerial vehicle and a control method thereof.
- the control mode includes an ordinary mode and a restricted mode. When a preset condition is satisfied, a corresponding control mode is selected to work.
- the corresponding control mode is selected according to the operation information of the drone. For example, if the total amount of the operated information is greater than or equal to a preset value, the instruction of the normal mode is selected.
- the control terminal of the drone may send an instruction to select the normal mode according to the total amount of the operated information being greater than or equal to a preset value.
- the control terminal may be a remote control of a drone, a mobile phone, a tablet computer, a ground base station, a background server, and so on.
- the onboard controller (eg, flight controller) of the drone may send an instruction to select the normal mode according to the total amount of the operated information being greater than or equal to a preset value.
- the operation information may include at least one of the following: operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, etc., number of shots, and shooting time.
- the operation-related information is acquired according to the sensor of the drone, and the already-operated information is calculated based on the operation-related information.
- the sensor may include at least one of the following: a positioning sensor, a timer, a flow meter, an image sensor, a height sensor, and the like.
- the current operating mileage can be acquired in real time to calculate the operating mileage.
- the operating area can be acquired in real time to calculate the operating area; or, based on the UAV's positioning sensor
- the current position information and the preset working trajectory calculate the obtained working area.
- the amount of sprayed medicine is acquired in real time to calculate the amount of medicine that has been operated.
- the height sensor of the UAV record the number of takeoffs in real time to calculate the number of takeoffs.
- the real-time shooting times or shooting time to calculate the shot times or shooting time.
- the control terminal of the drone determines whether to enter the locked state according to whether the remaining amount of the operation information is greater than a preset value.
- the control terminal may be a remote control of a drone, a mobile phone, a tablet computer, a ground base station, a background server, and so on.
- the onboard controller eg, flight controller
- the UAV may lose part or all of its existing functions, or may not execute part or all of the control commands.
- the preset components of the drone for example, working components such as nozzles, water pumps, cameras, etc.; power devices such as motors
- the preset components of the drone for example, working components such as nozzles, water pumps, cameras, etc.; power devices such as motors
- control the agricultural plant protection drone to return to the ship immediately, or stop executing the operation plan.
- the unmanned aerial vehicle may be an aerial drone, an agricultural plant protection unmanned aerial vehicle, a survey unmanned aerial vehicle, a line patrol unmanned aerial vehicle, or the like.
- the agricultural plant protection drone is taken as an example for description.
- FIG. 1 shows a schematic structural diagram of an agricultural plant protection drone according to some embodiments of the present disclosure.
- the agricultural plant protection drone 100 in the present disclosure may include: a power device 101, a flight controller 102, and a communication device 103.
- the power device 101 is used to provide flight power to the agricultural plant protection drone 100
- the flight controller 102 is electrically connected to the power device 101 for controlling the power device 101 to adjust the flight attitude
- the communication device 103 is used for communication connection with the control terminal 104 of the agricultural plant protection drone 100
- the communication device 103 is electrically connected to the flight controller 102 Connection, in which the flight controller 102 controls the control mode of the power device 101, including the normal mode and the restricted mode, in the restricted mode, the flight controller 102 determines whether to enter the locked state according to the user's work information;
- the communication device 103 will control the terminal
- the control mode selection request command sent by 104 is sent to the flight controller 102; the flight controller 102 selects the normal mode or the restricted mode according to the control mode selection request command; the flight controller 102 controls the power unit 101 according to the selected control mode Provide flight power.
- the control mode of the power device 101 is divided into two modes: a normal mode and a restricted mode, where the normal mode refers to the agricultural plant protection drone 100 is not restricted by factors such as the recharge balance and the drone manufacturer, etc.
- the mode of corresponding operation according to the user's instructions; the restricted mode refers to the agricultural plant protection drone 100 is limited by the recharge balance and the drone manufacturer and other factors, for example, when the user needs to use the agricultural plant protection drone 100 for fertilizer spreading and planting
- the operation information corresponding to the recharge amount such as operation area, operation mileage, operation time, operation dose, flight time, number of takeoffs, recharge amount Wait, otherwise the user cannot control the agricultural plant protection drone 100 to work.
- the agricultural plant protection drone 100 After the user recharges, the agricultural plant protection drone 100 operates according to the set operation information. During the operation, the monitoring device in the agricultural plant protection drone 100 can monitor the operation area and calculate the operation cost according to the operation area and the cost parameters And deduct the operating expenses from the recharge balance in real time. When the balance after deducting the operating expenses is less than the preset amount, the agricultural plant protection drone 100 will enter the locked state, and only the user can continue to use it after recharging.
- control mode of the power plant 101 can be switched according to the total amount of work information performed by the agricultural plant protection drone 100, where the total amount of work information is all previous work information of the agricultural plant protection drone 100 When the total amount of the operated information is greater than or equal to the preset value, the control terminal of the agricultural plant protection drone 100 sends an instruction to select the normal mode.
- the flight controller 102 can obtain the current operational information of the agricultural plant protection drone 100 in real time, and update the locally stored operational information according to the current operational information.
- the job information can be stored in a local non-relational database, where the key value in the non-relational database is the job time point, and the value is the job information corresponding to each job time point.
- each job Time points can be separated by 1s, 3s, etc. Taking each operation time point at an interval of 1s, and the operation information is the operation area as an example, if the agricultural plant protection drone 100 can spray 10 acres of farmland per second, according to the specific spraying time Determine the current operating information.
- the agricultural plant protection drone 100 has an operating area of 50 mu
- the agricultural plant protection drone 100 has an operating area of 100 mu, and so on.
- the old work information can be replaced with new work information
- the calculation unit in the flight controller 102 adds the work information acquired in real time to the work information acquired in real time at the previous moment You can get the current job information, and use the current job information to replace the locally stored job information obtained at the previous moment.
- the flight controller 102 may also obtain the total amount of the operational information of the agricultural plant protection drone 100, and determine whether to enter the normal mode according to the total amount of the operational information. Specifically, the operational information The total amount is compared with a preset value.
- the control terminal When the total amount of the operational information of the agricultural plant protection drone 100 is greater than or equal to the preset value, the control terminal will send an instruction to select the normal mode to the communication device 103, and the communication device 103 will The command to select the normal mode is sent to the flight controller 102, so that the flight controller 102 selects the normal mode according to the command to select the normal mode; accordingly, when the total amount of the operated information of the agricultural plant protection drone 100 is less than the preset value The control terminal will send an instruction to select the restriction mode to the communication device 103, and the communication device 103 will send the instruction to select the restriction mode to the flight controller 102, so that the flight controller 102 selects the restriction mode according to the instruction to select the restriction mode.
- the control terminal of the agricultural plant protection drone 100 may use different keys to encrypt the communication data in the agricultural plant protection drone 100 or /And decryption. Because different UAVs have different flight control system serial numbers (SN codes), rack numbers, and media access control addresses (MAC addresses), they can form secret keys based on the information.
- the unique key corresponding to the agricultural plant protection drone 100 can be formed according to the SN code of the agricultural plant protection drone 100, so that the control terminal can The SN code obtains the remaining amount of operation information in each agricultural plant protection drone, and the control terminal can also exchange information with the flight controller 102 through the secret key.
- the secret key is generated according to the SN code of the agricultural plant protection drone 100, and the communication data is encrypted by the secret key
- the communication data may be symmetrically and/or asymmetrically encrypted.
- the encrypted communication data is When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here.
- the user when activating the agricultural plant protection drone 100, the user sends an activation request to the control terminal of the agricultural plant protection drone 100 through the user terminal device; after receiving the activation request, the control terminal generates according to the activation request Activate the instruction and send the activation instruction to the flight controller 102; after receiving the activation instruction, the flight controller 102 activates the agricultural plant protection drone 100 according to the activation instruction.
- the control terminal Before sending an activation command, the control terminal may encrypt the activation command using a secret key generated according to the SN code, and then send the encrypted activation command to the flight controller 102.
- the flight controller 102 receives the encrypted activation After the instruction, decrypt it according to the corresponding secret key, and finally activate the agricultural plant protection drone 100 according to the decrypted activation instruction.
- the firmware of the agricultural plant protection drone 100 may be regularly updated, and the new version of the firmware can repair defects in the old version of the firmware and add new functions.
- the flight controller 102 can obtain the firmware header information of the new version of the firmware and match it with the current agricultural plant protection drone 100 firmware information to determine whether the current agricultural plant protection drone 100 firmware version is new Version firmware.
- the firmware header information may include at least one of a firmware version number and a firmware type. Therefore, when determining the current firmware version of the agricultural plant protection drone 100, the firmware version number and/or firmware type in the firmware header information may be used. determine.
- the flight controller 102 may determine whether the flight controller 102 enters the locked state according to the user's work information. Specifically, the remaining amount of the operation information may be obtained, wherein the operation information may specifically be at least one of an operation area, an operation mileage, an operation time, an operation medicine amount, a flight time, a take-off number, and a recharge amount, when the remaining amount of the operation information is less than When equal to the preset value, the flight controller 102 enters the locked state.
- the control terminal will send a lock command To the flight controller 102, the flight controller 102 enters the locked state according to the lock instruction, and stops controlling the working components of the agricultural plant protection drone 100, such as water pumps, sprinklers, and sprinklers, to perform operations.
- the flight controller 102 may control the power device 101 not to generate takeoff power, that is, the agricultural plant protection drone 100 enters the locked state; the flight controller 102 may also control agriculture The plant protection drone 100 returns immediately without any operation; or, the flight controller 102 can send a locked prompt message to the remote control of the agricultural plant protection drone 100 to prompt the user to recharge in time to ensure the operation corresponding to the recharge amount The information is greater than or equal to the remaining amount of job information. It is worth noting that when the flight controller 102 enters the locked state, the flight controller 102 stops executing the operation plan. Only when the user recharges and the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information can it be re-executed Homework plan.
- FIG. 2 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
- control method of an agricultural plant protection drone may include the following steps:
- the execution subject of the method may be the flight controller 102, and the control terminal of the agricultural plant protection drone 100 transmits the selection request instruction of the control mode to the flight controller electrically connected to the communication device 103 through the communication device 103 102.
- the flight controller 102 may control the control mode of the power plant 101, the control mode includes a normal mode and a restricted mode, specifically, the normal mode refers to the agricultural plant protection drone 100 is not subject to the recharge balance and no Restrictions such as man-machine manufacturers and other factors can be carried out according to the user's instructions. Restricted mode refers to the agricultural plant protection drone 100 is restricted by factors such as recharge balance and drone manufacturer, and cannot operate according to the user's instructions. The operation can only be carried out after receiving instructions from the control terminal of the agricultural plant protection drone 100 through the flight controller 102. The flight controller 102 can select a specific control mode according to the received control mode selection request instruction, and perform corresponding operations according to the specific control mode.
- the normal mode refers to the agricultural plant protection drone 100 is not subject to the recharge balance and no Restrictions such as man-machine manufacturers and other factors can be carried out according to the user's instructions.
- Restricted mode refers to the agricultural plant protection drone 100 is restricted by factors such as recharge balance and drone manufacturer, and cannot operate
- S22 Select the normal mode or the restricted mode according to the selection request instruction of the control mode
- the flight controller 102 can select the normal mode or the restricted mode according to the selection request instruction of the control mode, and the selection request instruction sent by the control terminal of the agricultural plant protection drone 100 is based on the operation of the agricultural plant protection drone 100
- the total amount of information changes and changes.
- the control terminal sends a command in the normal mode; when the total amount of work information is less than the preset value, the control terminal sends the limit mode instruction.
- the flight controller 102 can select the normal mode and control the agricultural plant protection drone 100 to perform operations according to the user's instructions; after receiving the command in the limited mode, the flight controller 102 can select the limited mode and wait for After the user's activation request activates the agricultural plant protection drone 100, the agricultural plant protection drone 100 is controlled to perform corresponding operations according to the instructions of the control terminal.
- S24 Control the power device to provide flight power according to the selected control mode.
- the flight controller 102 may select different control modes, and control the power device 101 in the agricultural plant protection drone 100 to provide or not provide flight power according to the different control modes.
- the control mode is the normal mode
- the flight controller 102 can control the power device 101 to provide flight power according to the operation information set by the user, and perform operations according to a preset route, such as fertilization, spraying, etc.
- the flight controller 102 controls the power device 101 to stop providing flight power and end the operation; when the control mode is the restricted mode, the flight controller 102 can perform operations according to the instructions of the control terminal of the agricultural plant protection drone 100, when the user's operation information
- the flight controller 102 controls the power device 101 to provide flight power and operate according to the preset route; when the remaining amount of the user's operation information is less than or equal to the preset value, the flight controller 102 controls the power device 101 stops providing flight power, stops controlling the operating components of the agricultural plant protection drone 100, such as water pumps, sprinklers, and spreaders, etc., or controls the power device 101 to provide flight power to ensure the return of the agricultural plant protection drone 100.
- FIG. 3 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
- step S30 the flight controller 102 obtains the current operational information in real time; in step S32, the locally stored operational information is updated according to the current operational information; wherein the operational information can be stored in In a local non-relational database, the key value in the non-relational database is the operation time point, and the value is the operation information corresponding to each operation time point.
- step S34 the total operation information is obtained; the total operation information is the sum of all previous operations of the agricultural plant protection drone 100; in step S36 , Determine whether to enter the normal mode according to the total amount of work information; in step S38, if the total amount of work information is greater than the preset value, enter the normal mode; if the total amount of work information is less than or equal to the preset value, Then enter the restricted mode.
- FIG. 4 shows a schematic flowchart of an activation method of an agricultural plant protection drone according to some embodiments of the present disclosure.
- step S40 the flight controller 102 receives an activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection drone 100 through the user terminal device; after the control terminal receives the activation request, An activation instruction is generated according to the activation request, and the activation instruction is sent to the flight controller 102; in step S42, the agricultural plant protection drone 100 is activated according to the activation instruction.
- the control terminal may first encrypt the activation command using the secret key generated according to the SN code, and then send the encrypted activation command to the flight controller 102; in step S42 After receiving the encrypted activation instruction, the flight controller 102 decrypts the encrypted activation instruction according to the corresponding secret key, and then activates the agricultural plant protection drone 100 according to the decrypted activation instruction.
- the communication data in the agricultural plant protection drone 100 can be encrypted or/and decrypted, due to the serial number (SN code), rack number and media access of the flight control system corresponding to different drones
- the control addresses (MAC addresses) are different, so a secret key can be formed based on the information to encrypt or/and decrypt the communication data.
- the unique key corresponding to the agricultural plant protection drone 100 may be formed according to the SN code of the agricultural plant protection drone 100.
- the control terminal can also obtain the remaining amount of operation information in the drone according to the SN codes of different agricultural plant protection drones 100, and can also interact with the flight controller 102 through the secret key.
- the secret key is generated according to the SN code of the agricultural plant protection drone 100, and the communication data is encrypted by the secret key
- the communication data may be symmetrically and/or asymmetrically encrypted.
- the encrypted communication data is When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here.
- the firmware of the agricultural plant protection drone 100 may be regularly updated, and the new version of the firmware can repair defects in the old version of the firmware and add new functions.
- the flight controller 102 can obtain the firmware header information of the new version of the firmware and match it with the current agricultural plant protection drone 100 firmware information to determine whether the current agricultural plant protection drone 100 firmware version is new Version firmware.
- the firmware header information may include at least one of a firmware version number and a firmware type. Therefore, when determining the current firmware version of the agricultural plant protection drone 100, the firmware version number and/or firmware type in the firmware header information may be used. determine.
- the agricultural plant protection drone in the present disclosure can generate a control mode selection request instruction according to the total amount of the agricultural plant protection drone's operating information according to the control terminal of the agricultural plant protection drone, and the control mode
- the selection request instruction is sent to the flight controller, so that the flight controller selects the specific control mode corresponding to the selection request instruction, and controls the power device to provide flight power according to the specific control mode;
- the agricultural plant protection drone can also be
- the operational information is sent to the flight controller, and the flight controller determines whether the agricultural plant protection drone automatically exits the restricted mode and enters the normal mode based on the total amount of operational information.
- FIG. 5 shows a schematic structural diagram of an agricultural plant protection drone according to some embodiments of the present disclosure.
- the agricultural plant protection drone 500 in the present disclosure may include: a power device 501, a flight controller 502, and a sensor 503.
- the power device 501 is used to provide flight power to the agricultural plant protection drone 500;
- the flight controller 502 is electrically connected to the power device 501, and is used to control the power device 502 to adjust the flight attitude; and, the sensor 503 is used to obtain operation-related information when the agricultural plant protection drone 500 is operating.
- the sensor 503 and the flight controller 502 Communication connection in which the flight controller 502 controls the control mode of the power device 501, including normal mode and restricted mode, in the restricted mode, the flight controller 502 determines whether to control the power device 501 to provide flight power according to the user's operation information; flight The controller 502 determines the operation information of the agricultural plant protection drone 500 according to the operation-related information acquired by the sensor 503; the flight controller determines whether to automatically exit the restriction mode and enter the normal mode according to the total amount of the operation information.
- the senor 503 may be provided on the fuselage of the agricultural plant protection drone 500, or may be provided in the flight controller 502, and of course, may also be provided in other reasonable positions, which is not specifically limited in this disclosure .
- the sensor 503 can monitor the operation-related information of the agricultural plant protection drone 500 in real time, such as operation mileage, operation area, operation time, operation dose, flight time, number of takeoffs, etc.
- the sensor 503 can be various types of sensors, If the distance sensor is used to detect the operating mileage and operating area, the time sensor detects the operating time and flight time, the flow sensor detects the operating dose, the speed sensor detects the number of takeoffs, of course, it can also be other types of sensors, as long as they can detect and obtain the corresponding operating information That's it. After the sensor 503 detects and obtains the operation-related information, it sends the operation-related information to the flight controller 502 in real time to ensure that the flight controller 502 can automatically switch the control mode of the power plant of the agricultural plant protection drone 500 according to the total amount of the operation information.
- the flight controller 502 may compare the total amount of the operational information with a preset value. When the total amount of work information is greater than or equal to the preset value, the flight controller 502 controls the control mode of the power device 501 to automatically switch to the normal mode; when the total amount of work information of the agricultural plant protection drone 500 is less than the preset value, The flight controller 502 controls the control mode of the power unit 501 to automatically switch to the restricted mode.
- the total amount of operating information is the sum of all previous operations of agricultural plant protection drone 500.
- the flight controller 502 may update the locally stored operational information according to the current operational information acquired in real time, and determine whether to automatically enter the normal mode according to the total amount of operational information.
- the specific implementation method of updating the currently stored operation information obtained by the obtained current operation information and the flight controller 102 obtain the current operation information of the agricultural plant protection drone 100 in real time, and update the locally stored operation according to the current operation information The information is the same and will not be repeated here.
- the flight controller 502 may receive the activation instruction and activate the agricultural plant protection drone 500 according to the activation instruction.
- the activation instruction may be encrypted and sent according to the secret key corresponding to the agricultural plant protection drone 500.
- the secret key may specifically be the SN code of the agricultural plant protection drone 500, in which the flight controller 502 receives the activation instruction, activates the agricultural plant protection drone 500 according to the activation instruction, and encrypts and sends the activation instruction
- the controller 102 receives the activation instruction, activates the agricultural plant protection drone 100 according to the activation instruction, and the specific implementation manner of encrypting and transmitting the activation instruction is the same, which will not be repeated here.
- the unique key corresponding to the agricultural plant protection drone 500 can be formed according to the SN code of the agricultural plant protection drone 500, so that the control terminal can be obtained according to the SN code of different agricultural plant protection drone 500
- the remaining amount of the operation information in the agricultural plant protection drone 500, and the control terminal can also exchange information with the flight controller 502 through the secret key.
- the secret key is generated according to the SN code of the agricultural plant protection drone 500
- the communication data is encrypted by the secret key
- the communication data may be symmetrically and/or asymmetrically encrypted.
- the encrypted communication data is encrypted
- decrypting the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here.
- the firmware of the agricultural plant protection drone 500 may also be periodically updated, and it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information.
- the specific implementation mode is the same as that of the agricultural plant protection drone 100.
- the implementation of the firmware upgrade and determining whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information is the same, so it will not be repeated here.
- the flight controller 502 may determine whether the flight controller 502 enters the locked state according to the remaining amount of the user's operational information, specifically Ground, the remaining amount of the job information can be compared with a preset value, and when the remaining amount of the job information is less than or equal to the preset value, the flight controller 502 enters the locked state.
- the flight controller 502 can control the power device 501 not to generate takeoff power, that is, the agricultural plant protection drone 500 enters the locked state; the flight controller 502 can also control the agricultural plant protection drone 500 immediately Return to flight without any operation; or, the flight controller 502 can send a locked prompt message to the remote control of the agricultural plant protection drone 500 to prompt the user to recharge in time to ensure that the operation information corresponding to the recharge amount is greater than or equal to the operation information remaining.
- the flight controller 502 can immediately stop executing the operation plan. Only when the user recharges and the operation information corresponding to the recharge amount is greater than or equal to the remaining amount of the operation information, the operation plan can be re-executed.
- FIG. 6 shows a schematic flowchart of a control method of an agricultural plant protection drone according to some embodiments of the present disclosure.
- control method of an agricultural plant protection drone may include the following steps:
- the execution subject of the method may be the flight controller 502, and the sensor 503 may send the detected job-related information to the flight controller 502, where the job-related information may be information related to the job set by the user , Such as operating mileage, operating area, operating time, operating dose, flight time, number of takeoffs, recharge amount, etc.
- the sensor 503 may be provided on the fuselage of the agricultural plant protection drone 500, or it may be provided in the flight controller 502, and of course, it may also be provided in other reasonable positions. This disclosure does not specifically limit this, and the sensor 503 may be Various types of sensors are used to obtain a variety of different job information.
- S62 Determine the operational information of the agricultural plant protection drone according to the operational related information
- the flight controller 502 after the flight controller 502 obtains job-related information, it can determine the operated information of the agricultural plant protection drone according to the job-related information, for example, the sensor 503 sends the job information to the flight controller 502 as the working area in the first second 10 acres, sending job information to the flight controller 502 in the second second is 9 acres of operation area, and sending job information to the flight controller 502 in the third second is 10 acres of operation area, then the flight controller 502 can determine that agricultural plant protection is unmanned The machine 500 has an operating area of 29 acres in three seconds.
- S64 Determine whether to automatically exit the restricted mode and enter the normal mode according to the total amount of the operated information; wherein, in the restricted mode, determine whether to control the power device to provide flight power according to the user's operating information.
- the flight controller 502 can determine whether to automatically exit the restricted mode and enter the normal mode based on the relationship between the total amount of operational information and a preset value. When the total amount of work information is greater than or equal to the preset value, it automatically exits the restriction mode and enters the normal mode; when the total amount of work information is less than the preset value, the restriction mode is still maintained.
- the flight controller 502 controls When the control mode of the power plant is limited mode, you can obtain the remaining amount of the user's job information, and determine whether to enter the locked state according to the size relationship between the remaining amount of the job information and another preset value, when the remaining amount of the job information is less than When it is equal to another preset value, it enters the locked state and can control the power device to not provide flight power, or provide flight power to ensure that the agricultural plant protection drone 500 returns to the sea without performing operations. Further, when the flight controller 502 enters the locked state, it may send a locked prompt message to the remote controller of the agricultural plant protection drone 500 to remind the user to recharge.
- the flight controller 502 can obtain the current operational information in real time, update the locally stored operational information based on the current operational information; then obtain the total amount of operational information, and then obtain the total amount of operational information based on the total operational information. Volume, determine whether to automatically exit the restricted mode and enter the normal mode.
- the specific implementation method of the control method of the agricultural plant protection drone is the same as the specific implementation method of the control method of the agricultural plant protection drone shown in FIG. 3, which will not be repeated here.
- the unique key corresponding to the agricultural plant protection drone 500 may be formed according to the SN code of the agricultural plant protection drone 500.
- the control terminal can obtain the remaining amount of the operation information in the drone according to the SN codes of different agricultural plant protection drones 500, and can encrypt and/or decrypt the communication data according to the secret key.
- the secret key exchanges information with the flight controller 502. Further, when the secret key is generated according to the SN code of the agricultural plant protection drone 500, and the communication data is encrypted by the secret key, the communication data may be symmetrically and/or asymmetrically encrypted. When the encrypted communication data is encrypted When decrypting, the inverse operation of the encryption algorithm can be used for decryption, which will not be repeated here.
- the activation instruction sent by the control terminal of the agricultural plant protection drone 500 may be encrypted by a secret key and then sent to the flight controller 502.
- FIG. 7 shows a schematic flowchart of an activation method of an agricultural plant protection drone according to some embodiments of the present disclosure.
- step S70 the flight controller 502 receives the encrypted activation instruction; specifically, the user sends an activation request to the control terminal of the agricultural plant protection drone 500 through the user terminal device; after the control terminal receives the activation request , Generate an activation instruction according to the activation request, and encrypt the activation instruction using the secret key generated according to the SN code, and then send the encrypted activation instruction to the flight controller 502; in step S72, decrypt the encrypted activation instruction to Obtain the activation instruction and activate the agricultural plant protection drone 500 according to the activation instruction; when the flight controller 502 receives the encrypted activation instruction, it decrypts the received encrypted activation instruction according to the corresponding secret key, and then according to the decrypted activation The instruction activates the agricultural plant protection drone 500.
- the firmware of the agricultural plant protection drone 500 may also be periodically updated, and it is determined whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information.
- the specific implementation mode is the same as that of the agricultural plant protection drone 100.
- the implementation of the firmware upgrade and determining whether it is the current firmware version of the agricultural plant protection drone according to the firmware header information is the same, which will not be repeated here.
- the agricultural plant protection drone and the control method of the agricultural plant protection drone in the present disclosure can switch the control mode of the power plant of the agricultural plant protection drone according to the specific operation information through the flight controller, which is convenient for agricultural plant protection drone manufacturers Remotely control the use rights of the drone; and set the control mode of the power plant to normal mode and restricted mode to enable the user to use the agricultural plant protection drone by way of recharge when the control mode of the drone is in the restricted mode
- Carrying out agricultural operations reduces the cost of a one-time purchase by the user, and when the total amount of agricultural plant protection drones has reached a certain value, the control mode of the agricultural plant protection drones can be converted to a normal mode, without restrictions from manufacturers. Further improve the user experience.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
农业植保无人机（100），包括：动力装置（101）；飞行控制器（102），与动力装置电连接，用于控制动力装置调节飞行姿态；通信装置（103），用于与农业植保无人机的控制终端通信连接，通信装置与飞行控制器电连接，其中，飞行控制器控制动力装置的控制模式，包括普通模式以及限制模式，在限制模式中飞行控制器根据用户的作业信息确定是否进入锁定状态；通信装置将控制终端发送的控制模式的选择请求指令，发送给飞行控制器；飞行控制器根据选择的控制模式，控制动力装置提供飞行动力。还公开了农业植保无人机的控制方法。能够使农业植保无人机厂商有效管控无人机使用权限，减少用户购机成本。
Description
本公开涉及计算机技术领域，具体而言，涉及一种农业植保无人机和农业植保无人机的控制方法。
无人机是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。目前，随着科技的发展，无人机技术日趋成熟。无人机以其速度快、操作灵活的特点被广泛应用到农业、林业、电力、测绘、遥测等行业。
但是，对于普通用户来说，无人机成本较高，难以负担。而且在购买无人机后，需要对无人机进行定期保养和维修，同样需要耗费大量的精力和财力。尤其在农业领域，由于植保具有季节性，从而使得植保无人机闲置率较高。因此无人机的普及主要存在以下问题：无人机厂商对销售给用户的无人机使用权缺乏有效管控；用户一次性购机成本高。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本公开的目的在于提供一种农业植保无人机和农业植保无人机的控制方法，进而至少在一定程度上克服由于相关技术的限制和缺陷而导致的一个或者多个问题。
根据本公开实施例的第一方面，提供了一种农业植保无人机，包括：动力装置，用于给所述无人飞行器提供飞行动力；飞行控制器，与所述动力装置电连接，用于控制所述动力装置调节飞行姿态；以及，通信装置，用于与所述农业植保无人机的控制终端通信连接，所述通信装置与所述飞行控制器电连接，其中，所述飞行控制器控制所述动力装置的控制模式，包括普通模式以及限制模式，在所述限制模式中，所述飞行控制器根据用户的作业信息，确定是否进入锁定状态；所述通信装置将所述控制终端发送的控制模式的选择请求指令，发送给飞行控制器；所述飞行控制器根据所述控制模式的选择请求指令，选择所述普通模式或所述限制模式；所述飞行控制器根据选择的控制模式，控制所述动力装置提供飞行动力。
根据本公开实施例的第二方面，提供了一种农业植保无人机的控制方法，所述方法包括：接收控制终端发送的控制模式的选择请求指令；根据所述控制模式的选择请求指令，选择普通模式或限制模式；根据选择的控制模式，控制所述动力装置提供飞行动力。
根据本公开实施例的第三方面，提供了一种农业植保无人机，包括：动力装置，用于给所述无人飞行器提供飞行动力；飞行控制器，与所述动力装置电连接，用于控制所述动力装置调节飞行姿态；以及，传感器，用于获取所述农业植保无人机作业时的作业相关信息，所述传感器与所述飞行控制器通信连接，其中，所述飞行控制器控制所述动力装置的控制模式，包括普通模式以及限制模式，在所述限制模式中，所述飞行控制器根据用户的作业信息，确定是否控制所述动力装置提供飞行动力；所述飞行控制器根据所述传感器获取的作业相关信息，确定所述农业植保无人机的已作业信息；所述飞行控制器根据所述已作业信息的总量，确定是否自动退出所述限制模式，进入普通模式。
根据本公开实施例的第四方面，提供了一种农业植保无人机的控制方法，所述方法包括：获取传感器获取的作业相关信息根据所述作业相关信息，确定所述农业植保无人机的已作业信息；根据所述已作业信息的总量，确定是否自动退出限制模式，进入普通模式；其中，在所述限制模式中，根据用户的作业信息，确定是否控制动力装置提供飞行动力。
本公开的一些实施例所提供的技术方案中，一方面能够通过飞行控制器根据具体的作业信息对农业植保无人机的动力装置的控制模式进行切换，便于农业植保无人机厂商有效管控无人机的使用权限；另一方面通过将动力装置的控制模式设置为普通模式和限制模式能够使用户在无人机的控制模式处于限制模式时，通过多次充值的方式使用农业植保无人机进行农业作业，降低了用户一次性购买的成本，并且在农业植保无人机的已作业总量达到一定值时，农业植保无人机的控制模式可以转换为普通模式，不受厂商的限制，进一步提高了用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
通过参照附图来详细描述其示例实施例，本公开的上述和其它特征及优点将变得更加明显。
图1示意性示出了应用根据本公开一些实施例的农业植保无人机的结构示意图；
图2示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图；
图3示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图；
图4示意性示出了应用根据本公开一些实施例的农业植保无人机的激活方法的流程示意图；
图5示意性示出了应用根据本公开一些实施例的农业植保无人机的结构示意图；
图6示意性示出了应用根据本公开一些实施例的农业植保无人机的控制方法的流程示意图；
图7示意性示出了应用根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。
现在将参考附图更全面地描述示例实施例。然而，示例实施例能够以多种形式实施，且不应被理解为限于在此阐述的实施例；相反，提供这些实施例使得本公开将全面和完整，并将示例实施例的构思全面地传达给本领域的技术人员。在图中相同的附图标记表示相同或类似的部分，因而将省略对它们的重复描述。
此外，所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。在下面的描述中，提供许多具体细节从而给出对本公开的实施例的充分理解。然而，本领域技术人员将意识到，可以实践本公开的技术方案而没有所述特定细节中的一个或更多，或者可以采用其它的方法、组元、材料、装置、步骤等。在其它情况下，不详细示出或描述公知结构、方法、装置、实现、材料或者操作以避免模糊本公开的各方面。
附图中所示的方框图仅仅是功能实体，不一定必须与物理上独立的实体相对应。即，可以采用软件形式来实现这些功能实体，或在一个或多个软件硬化的模块中实现这些功能实体或功能实体的一部分，或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
本发明公开一种无人机及其控制方法，其控制模式包括普通模式以及限制模式，其在满足预设的条件时，选择相应的控制模式进行工作。
在其中的一些实施例中，根据所述无人机的作业信息选择相应的控制模式。例如，所述已作业信息的总量大于等于预设值，则选择所述普通模式的指令。
所述无人机的控制终端，可以根据所述已作业信息的总量大于等于预设值，发送选择所述普通模式的指令。所述控制终端可以为无人机的遥控器，移动电话，平板电脑，地面基站，后台服务器等等。
或者，所述无人机的机载控制器(例如，飞行控制器)，可以根据所述已作业信息的总量大于等于预设值，发送选择所述普通模式的指令。
具体地，所述作业信息可以包括如下至少一种：作业里程，作业面积，作业时间，作业药量，飞行时间，起飞次数等，拍摄次数，拍摄时间。
具体地，根据所述无人机的传感器获取作业相关信息，根据作业相关信息计算所 述已作业信息。所述传感器可以包括如下至少一种：定位传感器，计时器，流量计，图像传感器，高度传感器等。
例如，(1)根据所述无人机的定位传感器(例如，GPS等)可以实时获取当前的作业里程，以计算已作业里程。(2)根据所述无人机的定位传感器获取的作业距离以及预设的作业宽度，可以实时获取作业面积，以计算所述已作业面积；或者，根据所述无人机的定位传感器获取的当前位置信息以及预设作业轨迹，计算得到所述已作业面积。(3)根据所述无人机的计时器，实时记录作业时间或飞行时间，以计算所述已作业时间或已飞行时间。(4)根据所述无人机的流量传感器，实时获取喷洒的药量，以计算所述已作业药量。(5)根据所述无人机的高度传感器，实时记录起飞次数，以计算所述起飞次数。(6)根据所述无人机搭载的图像传感器，实时拍摄次数或拍摄时间，以计算所述已拍摄次数或已拍摄时间。
在一些实施例中，根据作业信息的剩余量是否大于预设值，确定所述无人机的预设部件是否进入锁定状态。
所述无人机的控制终端，根据作业信息的剩余量是否大于预设值，确定是否进入锁定状态。所述控制终端可以为无人机的遥控器，移动电话，平板电脑，地面基站，后台服务器等等。
或者，所述无人机的机载控制器(例如，飞行控制器)，根据作业信息的剩余量是否大于预设值，确定是否进入锁定状态。
在所述锁定状态(模式)下，可以使所述无人机失去部分、或全部的已有功能，或不执行部分、全部的控制指令。
例如，在所述锁定状态(模式)时，控制所述无人机的预设部件(例如，作业部件，如喷头、水泵、相机等；动力装置，如，电机等)停止工作。
或者，在所述锁定状态(模式)时，控制所述农业植保无人机立即返航，或者停止执行作业计划。
所述无人机可以为航拍无人机、农业植保无人机、勘测无人机，巡线无人机等。在下述的实施例中，以农业植保无人机为例进行说明。
下面结合附图，对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1示出了根据本公开一些实施例的农业植保无人机的结构示意图。
参照图1所示，本公开中的农业植保无人机100可以包括：动力装置101、飞行控制器102、通信装置103，具体地，动力装置101用于给农业植保无人机100提供飞行动力；飞行控制器102与动力装置101电连接，用于控制动力装置101调节飞行姿态； 通信装置103用于与农业植保无人机100的控制终端104通信连接，通信装置103与飞行控制器102电连接，其中，飞行控制器102控制动力装置101的控制模式，包括普通模式以及限制模式，在限制模式中，飞行控制器102根据用户的作业信息，确定是否进入锁定状态；通信装置103将控制终端104发送的控制模式的选择请求指令，发送给飞行控制器102；飞行控制器102根据控制模式的选择请求指令，选择普通模式或限制模式；飞行控制器102根据选择的控制模式，控制动力装置101提供飞行动力。
在示例实施例中，动力装置101的控制模式分为普通模式和限制模式两种，其中普通模式是指农业植保无人机100不受其中的充值余额及无人机厂商等因素的限制，可以根据用户的指令进行相应作业的模式；限制模式是指农业植保无人机100受充值余额和无人机厂商等因素的限制，例如，当用户需要使用农业植保无人机100进行撒肥、播种等作业时，待农业植保无人机100被激活后，需要进行充值才能获取与充值金额对应的作业信息，如作业面积、作业里程、作业时间、作业药量、飞行时间、起飞次数、充值金额等等，否则用户无法操控农业植保无人机100进行作业。用户充值后，农业植保无人机100根据设置好的作业信息进行作业，在作业的同时，农业植保无人机100中的监测装置可以对作业面积进行监测，根据作业面积和费用参数计算作业费用，并从充值余额中实时扣除作业费用，当扣除作业费用后的余额不足预设额度时，农业植保无人机100便会进入锁定状态，只有用户再次充值后才能够继续使用。
在示例实施例中，动力装置101的控制模式可以根据农业植保无人机100进行的作业信息的总量进行切换，其中已作业信息的总量是农业植保无人机100的所有历次已作业信息量之和，当已作业信息的总量大于等于预设值时，农业植保无人机100的控制终端发送选择普通模式的指令。
在示例实施例中，飞行控制器102可以实时获取农业植保无人机100当前的已作业信息，并根据当前的已作业信息更新本地存储的已作业信息。具体地，已作业信息可以存储于本地的一非关系型数据库中，其中非关系型数据库中的key值为作业时间点，value值为各作业时间点对应的已作业信息，记录时，各作业时间点可以间隔1s、3s等，以各作业时间点间隔1s，且已作业信息为已作业面积为例，若每秒农业植保无人机100可喷洒10亩农田，则根据具体地喷洒时长能够确定当前的已作业信息，如截止到第5s，农业植保无人机100的已作业面积为50亩，截止到第10s，农业植保无人机100的已作业面积为100亩，等等。进一步的，为了节省存储空间，可以采用新的已作业信息替换旧的已作业信息，通过飞行控制器102中的计算单元将实时获取的已作业信息与前一时刻实时获取的已作业信息相加即可得到当前的已作业信息，并通过该当前的已作业信息替换本地存储的前一时刻获取的已作业信息。
在示例实施例中，飞行控制器102还可以获取农业植保无人机100的已作业信息的总量，并根据已作业信息的总量确定是否进入普通模式，具体地，可以将已作业信息的总量与一预设值进行比较，当农业植保无人机100的已作业信息的总量大于等于预设值时，控制终端将向通信装置103发送选择普通模式的指令，通信装置103则将选择普通模式的指令发送至飞行控制器102，以使飞行控制器102根据选择普通模式的指令选择普通模式；相应地，当农业植保无人机100的已作业信息的总量小于预设值时，控制终端将向通信装置103发送选择限制模式的指令，通信装置103则将选择限制模式的指令发送至飞行控制器102，以使飞行控制器102根据选择限制模式的指令选择限制模式。
在示例实施例中，为了提高农业植保无人机100中的信息安全性，可以通过农业植保无人机100的控制终端采用不同的秘钥对农业植保无人机100中的通信数据进行加密或/及解密。由于不同的无人机，其所对应的飞行控制***序列号(SN码)、机架号以及媒体访问控制地址(MAC地址)均不同，因此可以根据该些信息形成秘钥。在本公开的示例实施例中，可以根据农业植保无人机100的SN码形成与农业植保无人机100对应的唯一的秘钥，这样控制终端就可以根据不同的农业植保无人机100的SN码获取每个农业植保无人机中的作业信息的剩余量，并且控制终端还可以通过该秘钥与飞行控制器102进行信息交互。进一步的，根据农业植保无人机100的SN码生成秘钥，并通过秘钥对通信数据进行加密时，可以是对通信数据进行对称加密和/或非对称加密，当对加密后的通信数据进行解密时，可以采用加密算法的逆运算进行解密，本公开在此不再赘述。通过对每个农业植保无人机100设置与其唯一对应的秘钥，能够提高通信数据的安全性，为农业植保无人机100的正常使用提供保障。
在示例实施例中，在对农业植保无人机100进行激活时，用户通过用户终端设备向农业植保无人机100的控制终端发送激活请求；控制终端接收到该激活请求后，根据激活请求生成激活指令，并将该激活指令发送至飞行控制器102；飞行控制器102接收到该激活指令后，根据该激活指令激活农业植保无人机100。其中控制终端在发送激活指令前，可以先采用根据SN码生成的秘钥对该激活指令进行加密，然后再将加密的激活指令发送至飞行控制器102，当飞行控制器102接收到加密的激活指令后，根据对应的秘钥对其进行解密，最后再根据解密后的激活指令激活农业植保无人机100。
在示例实施例中，可以定期对农业植保无人机100进行固件升级，新版本的固件能够修复老版固件中的缺陷，并增添新的功能。在升级固件时，飞行控制器102可以获取新版本固件的固件头信息，并将其与当前农业植保无人机100的固件信息进行匹配，判断当前农业植保无人机100的固件版本是否为新版本固件。其中，固件头信息可以包括固件版本号和固件类型中的至少一种，因而在确定当前农业植保无人机100的固件版本 时，可以根据固件头信息中的固件版本号和/或固件类型进行确定。
在示例实施例中，当动力装置101的控制模式为限制模式时，飞行控制器102可以根据用户的作业信息确定飞行控制器102是否进入锁定状态。具体地，可以获取作业信息的剩余量，其中作业信息具体可以是作业面积、作业里程、作业时间、作业药量、飞行时间、起飞次数、充值金额中的至少一个，当作业信息的剩余量小于等于预设值时，飞行控制器102进入锁定状态。以作业信息为作业面积为例，当作业面积的剩余量为10亩，其对应的金额为20元，而当前农业植保无人机100的可用额度为19元，则控制终端会发送一锁定指令至飞行控制器102，飞行控制器102根据该锁定指令进入锁定状态，停止控制农业植保无人机100的作业部件，如水泵、喷头、喷洒器等装置，进行作业。
在示例实施例中，当飞行控制器102进入锁定状态时，飞行控制器102可以控制动力装置101不产生起飞动力，即农业植保无人机100进入锁机状态；飞行控制器102也可以控制农业植保无人机100立即返航，而不进行任何的作业；抑或，飞行控制器102可以向农业植保无人机100的遥控器发送锁定的提示信息，以提示用户及时充值，保证充值金额对应的作业信息大于等于作业信息的剩余量。值得注意的是，在飞行控制器102进入锁定状态时，飞行控制器102即停止执行作业计划，只有当用户再充值，且充值金额对应的作业信息大于等于作业信息的剩余量后，才能重新执行作业计划。
图2示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。
参照图2所示，农业植保无人机的控制方法可以包括以下步骤：
S20：接收控制终端发送的控制模式的选择请求指令；
在示例实施例中，该方法的执行主体可以是飞行控制器102，农业植保无人机100的控制终端通过通信装置103将控制模式的选择请求指令发送至与通信装置103电连接的飞行控制器102。
在示例实施例中，飞行控制器102可以控制动力装置101的控制模式，该控制模式包括普通模式和限制模式，具体地，普通模式是指农业植保无人机100不受其中的充值余额及无人机厂商等因素的限制，可以根据用户的指令进行相应作业的模式；限制模式是指农业植保无人机100受充值余额和无人机厂商等因素的限制，无法根据用户的指令进行作业，必须通过飞行控制器102接收到农业植保无人机100的控制终端的指令后才能进行作业。飞行控制器102根据接收到的控制模式的选择请求指令可以选择具体的控制模式，并根据具体的控制模式进行相应操作。
S22：根据所述控制模式的选择请求指令，选择普通模式或限制模式；
在示例实施例中，飞行控制器102根据控制模式的选择请求指令可以选择普通模式或限制模式，而农业植保无人机100的控制终端发送的选择请求指令根据农业植保无人 机100的已作业信息的总量的变化而变化，当已作业信息的总量大于等于预设值时，控制终端发送普通模式的指令；当已作业信息的总量小于预设值时，控制终端发送限制模式的指令。飞行控制器102接收到普通模式的指令后，可以选择普通模式，根据用户的指令控制农业植保无人机100进行作业；飞行控制器102接收到限制模式的指令后，可以选择限制模式，待根据用户的激活请求激活农业植保无人机100后，根据控制终端的指令控制农业植保无人机100进行相应的作业。
S24：根据选择的控制模式，控制所述动力装置提供飞行动力。
在示例实施例中，飞行控制器102可以选择不同的控制模式，根据不同的控制模式控制农业植保无人机100中的动力装置101提供飞行动力或不提供飞行动力。具体地，当控制模式为普通模式时，飞行控制器102可以根据用户设定的作业信息控制动力装置101提供飞行动力，按照预设航线进行作业，如施肥、喷药等，在完成作业时，飞行控制器102则控制动力装置101停止提供飞行动力，结束作业；当控制模式为限制模式时，飞行控制器102可以根据农业植保无人机100的控制终端的指令进行作业，当用户的作业信息的剩余量大于预设值时，飞行控制器102控制动力装置101提供飞行动力，按照预设航线进行作业；当用户的作业信息的剩余量小于等于预设值时，飞行控制器102控制动力装置101停止提供飞行动力，停止控制农业植保无人机100的作业部件，如水泵、喷头、播撒器等，进行作业，或者控制动力装置101提供飞行动力保证农业植保无人机100返航。
图3示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。
参考图3所示，在步骤S30中，飞行控制器102实时获取当前的已作业信息；在步骤S32中，根据当前的已作业信息，更新本地存储的已作业信息；其中已作业信息可以存储于本地的一非关系型数据库中，其中非关系型数据库中的key值为作业时间点，value值为各作业时间点对应的已作业信息，通过将各个作业时间点对应的已作业信息相加即可获得当前的已作业信息；也可以是将实时获取的已作业信息与前一时刻实时获取的已作业信息相加即可得到当前的已作业信息，并通过该当前的已作业信息替换本地存储的前一时刻获取的已作业信息；在步骤S34中，获取已作业信息的总量；其中已作业信息的总量为农业植保无人机100的所有历次已作业信息之和；在步骤S36中，根据已作业信息的总量，确定是否进入普通模式；在步骤S38中，若已作业信息的总量大于预设值，则进入普通模式；若已作业信息的总量小于等于预设值，则进入限制模式。
图4示出了根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。
参考图4所示，在步骤S40中，飞行控制器102接收激活指令；具体地，用户通过用户终端设备向农业植保无人机100的控制终端发送激活请求；控制终端接收到该激活 请求后，根据激活请求生成激活指令，并将该激活指令发送至飞行控制器102；在步骤S42中，根据激活指令，激活农业植保无人机100。
进一步，在步骤S40中，控制终端在发送激活指令前，可以先采用根据SN码生成的秘钥对该激活指令进行加密，然后再将加密的激活指令发送至飞行控制器102；在步骤S42中，当飞行控制器102接收到加密的激活指令后，根据对应的秘钥对加密的激活指令进行解密，再根据解密后的激活指令激活农业植保无人机100。
在示例实施例中，可以对农业植保无人机100中的通信数据进行加密或/及解密，由于不同的无人机所对应的飞行控制***序列号(SN码)、机架号以及媒体访问控制地址(MAC地址)均不同，因此可以根据该些信息形成秘钥，以对通信数据进行加密或/及解密。在本公开的示例实施例中，可以根据农业植保无人机100的SN码形成与农业植保无人机100对应的唯一的秘钥。获得秘钥后，控制终端还可以根据不同的农业植保无人机100的SN码获取无人机中的作业信息的剩余量，还可以通过该秘钥与飞行控制器102进行信息交互。进一步的，根据农业植保无人机100的SN码生成秘钥，并通过秘钥对通信数据进行加密时，可以是对通信数据进行对称加密和/或非对称加密，当对加密后的通信数据进行解密时，可以采用加密算法的逆运算进行解密，本公开在此不再赘述。通过对每个农业植保无人机100设置与其唯一对应的秘钥，能够提高通信数据的安全性，为农业植保无人机100的正常使用提供保障。
在示例实施例中，可以定期对农业植保无人机100进行固件升级，新版本的固件能够修复老版固件中的缺陷，并增添新的功能。在升级固件时，飞行控制器102可以获取新版本固件的固件头信息，并将其与当前农业植保无人机100的固件信息进行匹配，判断当前农业植保无人机100的固件版本是否为新版本固件。其中，固件头信息可以包括固件版本号和固件类型中的至少一种，因而在确定当前农业植保无人机100的固件版本时，可以根据固件头信息中的固件版本号和/或固件类型进行确定。
本公开中的农业植保无人机一方面可以根据农业植保无人机的控制终端根据农业植保无人机的已作业信息的总量生成控制模式的选择请求指令，并通过通信装置将控制模式的选择请求指令发送给飞行控制器，以使飞行控制器选择与选择请求指令对应的具体控制模式，并根据具体控制模式控制动力装置提供飞行动力；一方面还可以通过传感器将农业植保无人机的已作业信息发送至飞行控制器，飞行控制器根据已作业信息的总量确定农业植保无人机是否自动退出限制模式，进入普通模式。
图5示出了根据本公开一些实施例的农业植保无人机的结构示意图。
参照图5所示，本公开中的农业植保无人机500可以包括：动力装置501、飞行控制器502、传感器503，具体地，动力装置501用于给农业植保无人机500提供飞行动力； 飞行控制器502，与动力装置501电连接，用于控制动力装置502调节飞行姿态；以及，传感器503，用于获取农业植保无人机500作业时的作业相关信息，传感器503与飞行控制器502通信连接，其中，飞行控制器502控制动力装置501的控制模式，包括普通模式以及限制模式，在限制模式中，飞行控制器502根据用户的作业信息，确定是否控制动力装置501提供飞行动力；飞行控制器502根据传感器503获取的作业相关信息，确定农业植保无人机500的已作业信息；飞行控制器根据已作业信息的总量，确定是否自动退出限制模式，进入普通模式。
在示例实施例中，传感器503可以设置于农业植保无人机500的机身上，也可以设置在飞行控制器502中，当然也可以设置在其它的合理位置，本公开对此不做具体限定。传感器503可以实时监测农业植保无人机500的作业相关信息，如作业里程、作业面积、作业时间、作业药量、飞行时间、起飞次数等，相应地，传感器503可以是各种类型的传感器，如采用距离传感器检测作业里程、作业面积，时间传感器检测作业时间、飞行时间，流量传感器检测作业药量，速度传感器检测起飞次数，当然也可以是其它种类的传感器，只要可以检测获取相应地作业信息即可。传感器503检测获得作业相关信息后，实时将作业相关信息发送至飞行控制器502，保证飞行控制器502可以根据已作业信息的总量自动切换农业植保无人机500的动力装置的控制模式。
在示例实施例中，飞行控制器502获取农业植保无人机500的已作业信息的总量后，可以将已作业信息的总量与一预设值进行比较，当农业植保无人机500的已作业信息的总量大于等于预设值时，飞行控制器502控制动力装置501的控制模式自动切换为普通模式；当农业植保无人机500的已作业信息的总量小于预设值时，飞行控制器502控制动力装置501的控制模式自动切换为限制模式。其中，已作业信息的总量为农业植保无人机500的所有历次已作业信息量之和。
在示例实施例中，飞行控制器502可以根据实时获取的当前的已作业信息更新本地存储的已作业信息，并根据已作业信息的总量确定是否自动进入普通模式，其中飞行控制器502根据实时获取的当前的已作业信息更新本地存储的已作业信息的具体实现方式与飞行控制器102实时获取农业植保无人机100当前的已作业信息，并根据当前的已作业信息更新本地存储的已作业信息相同，此处不再赘述。
在示例实施例中，飞行控制器502可以接收激活指令，并根据激活指令激活农业植保无人机500，进一步的，激活指令还可以根据与农业植保无人机500对应的秘钥进行加密发送，该秘钥具体地可以是农业植保无人机500的SN码，其中飞行控制器502接收激活指令，根据激活指令激活农业植保无人机500，及对激活指令进行加密发送的具 体实现方式与飞行控制器102接收激活指令，根据激活指令激活农业植保无人机100，及对激活指令进行加密发送的具体实现方式相同，此处不再赘述。
在示例实施例中，可以根据农业植保无人机500的SN码形成与农业植保无人机500对应的唯一的秘钥，这样控制终端就可以根据不同的农业植保无人机500的SN码获取农业植保无人机500中的作业信息的剩余量，并且控制终端还可以通过该秘钥与飞行控制器502进行信息交互。进一步的，根据农业植保无人机500的SN码生成秘钥，并通过秘钥对通信数据进行加密时，可以是对通信数据进行对称加密和/或非对称加密，当对加密后的通信数据进行解密时，可以采用加密算法的逆运算进行解密，本公开在此不再赘述。通过对农业植保无人机500设置与其唯一对应的秘钥，能够提高通信数据的安全性，为农业植保无人机500的正常使用提供保障。
在示例实施例中，还可以定期对农业植保无人机500进行固件升级，根据固件头信息确定是否为当前农业植保无人机的固件版本，其具体实施方式与对农业植保无人机100进行固件升级，并根据固件头信息确定是否为当前农业植保无人机的固件版本的实施方式相同，因此在此不再赘述。
在示例实施例中，当飞行控制器502根据已作业信息的总量确定控制模式为限制模式时，飞行控制器502可以根据用户的作业信息的剩余量确定飞行控制器502是否进入锁定状态，具体地，可以将作业信息的剩余量与一预设值进行比较，当作业信息的剩余量小于等于预设值时，飞行控制器502进入锁定状态。当飞行控制器502进入锁定状态时，飞行控制器502可以控制动力装置501不产生起飞动力，即农业植保无人机500进入锁机状态；飞行控制器502也可以控制农业植保无人机500立即返航，而不进行任何的作业；抑或，飞行控制器502可以向农业植保无人机500的遥控器发送锁定的提示信息，以提示用户及时充值，保证充值金额对应的作业信息大于等于作业信息的剩余量。在飞行控制器502进入锁定状态时，飞行控制器502可以立即停止执行作业计划，只有当用户再充值，且充值金额对应的作业信息大于等于作业信息的剩余量后，才能重新执行作业计划。
图6示出了根据本公开一些实施例的农业植保无人机的控制方法的流程示意图。
参照图6所示，农业植保无人机的控制方法可以包括以下步骤：
S60：获取传感器获取的作业相关信息；
在示例实施例中，该方法的执行主体可以是飞行控制器502，传感器503可以将检测到的作业相关信息发送至飞行控制器502，其中作业相关信息可以是与用户设定的作业相关的信息，如作业里程、作业面积、作业时间、作业药量、飞行时间、起飞次数、充值金额等。传感器503可以设置于农业植保无人机500的机身上，也可以设置在飞行 控制器502中，当然也可以设置在其它的合理位置，本公开对此不做具体限定，并且传感器503可以是各种类型的传感器，用于获取多种不同的作业信息。
S62：根据所述作业相关信息，确定所述农业植保无人机的已作业信息；
在示例实施例中，飞行控制器502获取作业相关信息后，可以根据作业相关信息确定农业植保无人机的已作业信息，例如传感器503在第一秒向飞行控制器502发送作业信息为作业面积10亩，在第二秒向飞行控制器502发送作业信息为作业面积9亩，在第三秒向飞行控制器502发送作业信息为作业面积10亩，则飞行控制器502可以确定农业植保无人机500在三秒内的已作业面积为29亩。
S64：根据所述已作业信息的总量，确定是否自动退出限制模式，进入普通模式；其中，在所述限制模式中，根据用户的作业信息，确定是否控制动力装置提供飞行动力。
在示例实施例中，飞行控制器502根据已作业信息的总量和一预设值的大小关系可以确定是否自动退出限制模式，进入普通模式。当已作业信息的总量大于等于预设值时，自动退出限制模式，进入普通模式；当已作业信息的总量小于预设值时，仍保持限制模式，进一步的，当飞行控制器502控制的动力装置的控制模式为限制模式时，可以获取用户的作业信息的剩余量，并根据作业信息的剩余量与另一预设值的大小关系确定是否进入锁定状态，当作业信息的剩余量小于等于另一预设值时，则进入锁定状态，可以控制动力装置不提供飞行动力，或者提供飞行动力保证农业植保无人机500返航而不进行作业。进一步的，当飞行控制器502进入锁定状态时，可以发送锁定的提示信息给农业植保无人机500的遥控器，以提醒用户进行充值。
在示例实施例中，飞行控制器502可以实时获取当前的已作业信息，根据当前的已作业信息，更新本地存储的已作业信息；接着获取已作业信息的总量，并根据已作业信息的总量，确定是否自动退出限制模式，进入普通模式。该农业植保无人机的控制方法的具体实施方式与图3所示的农业植保无人机的控制方法的具体实施方式相同，在此不再赘述。
在示例实施例中，可以根据农业植保无人机500的SN码形成与农业植保无人机500对应的唯一的秘钥。获得秘钥后，控制终端可以根据不同的农业植保无人机500的SN码获取无人机中的作业信息的剩余量，可以根据秘钥对通信数据进行加密及/或解密，还可以通过该秘钥与飞行控制器502进行信息交互。进一步的，根据农业植保无人机500的SN码生成秘钥，并通过秘钥对通信数据进行加密时，可以是对通信数据进行对称加密和/或非对称加密，当对加密后的通信数据进行解密时，可以采用加密算法的逆运算进行解密，本公开在此不再赘述。通过对每个农业植保无人机500设置与其唯一对应的秘钥，能够提高通信数据的安全性，为农业植保无人机500的正常使用提供保障。
进一步的，在激活农业植保无人机500时，农业植保无人机500的控制终端发送的激活指令可以是通过秘钥加密后发送至飞行控制器502的。
图7示出了根据本公开一些实施例的农业植保无人机的激活方法的流程示意图。
参考图7所示，在步骤S70中，飞行控制器502接收加密激活指令；具体地，用户通过用户终端设备向农业植保无人机500的控制终端发送激活请求；控制终端接收到该激活请求后，根据激活请求生成激活指令，并采用根据SN码生成的秘钥对该激活指令进行加密，然后再将加密的激活指令发送至飞行控制器502；在步骤S72中，对加密激活指令进行解密以获得激活指令，并根据激活指令激活农业植保无人机500；当飞行控制器502接收到加密的激活指令后，根据对应的秘钥对接收到的加密激活指令进行解密，再根据解密后的激活指令激活农业植保无人机500。
在示例实施例中，还可以定期对农业植保无人机500进行固件升级，根据固件头信息确定是否为当前农业植保无人机的固件版本，其具体实施方式与对农业植保无人机100进行固件升级，并根据固件头信息确定是否为当前农业植保无人机的固件版本的实施方式相同，在此不再赘述。
本公开中的农业植保无人机及农业植保无人机的控制方法能够通过飞行控制器根据具体的作业信息对农业植保无人机的动力装置的控制模式进行切换，便于农业植保无人机厂商远程控制无人机的使用权限；并且将动力装置的控制模式设置为普通模式和限制模式能够使用户在无人机的控制模式处于限制模式时，通过分次充值的方式使用农业植保无人机进行农业作业，降低了用户一次性购买的成本，并且在农业植保无人机的已作业总量达到一定值时，农业植保无人机的控制模式可以转换为普通模式，不受厂商的限制，进一步提高了用户体验。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。
Claims (80)
- 一种农业植保无人机，其特征在于，包括：动力装置，用于给所述农业植保无人机提供飞行动力；飞行控制器，与所述动力装置电连接，用于控制所述动力装置调节飞行姿态；以及通信装置，用于与所述农业植保无人机的控制终端通信连接，所述通信装置与所述飞行控制器电连接，其中，所述飞行控制器控制所述动力装置的控制模式，包括普通模式以及限制模式，在所述限制模式中，所述飞行控制器根据用户的作业信息，确定是否进入锁定状态；所述通信装置将所述控制终端发送的控制模式的选择请求指令，发送给飞行控制器；所述飞行控制器根据所述控制模式的选择请求指令，选择所述普通模式或所述限制模式；所述飞行控制器根据选择的控制模式，控制所述动力装置提供飞行动力。
- 根据权利要求1所述的农业植保无人机，其中，若所述农业植保无人机的已作业信息的总量大于等于预设值，则所述控制终端发送选择所述普通模式的指令。
- 根据权利要求1所述的农业植保无人机，其中，在升级固件时，所述飞行控制器根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求3所述的农业植保无人机，其中，所述飞行控制器根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求3所述的农业植保无人机，其中，所述固件头信息包括如下至少一种：固件版本号，固件类型。
- 根据权利要求1所述的农业植保无人机，其中，所述控制终端根据所述农业植保无人机的SN码，获取作业信息的剩余量。
- 根据权利要求6所述的农业植保无人机，其中，所述SN码对应唯一的秘钥，所述控制终端通过所述秘钥获取所述作业信息的剩余量。
- 根据权利要求6所述的农业植保无人机，其中，所述SN码对应唯一的秘钥，所述控制终端通过所述秘钥与所述飞行控制器进行信息交互。
- 根据权利要求1所述的农业植保无人机，其中，所述飞行控制器通过一秘钥进行通信数据的加密或/及解密，所述农业植保无人机的SN码对应唯一的所述秘钥。
- 根据权利要求1所述的农业植保无人机，其中，所述飞行控制器还用于：实时获取当前的已作业信息；根据所述当前的已作业信息，更新本地存储的已作业信息。
- 根据权利要求10所述的农业植保无人机，其中，所述飞行控制器还用于：获取已作业信息的总量，其中，所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和；根据所述已作业信息的总量，确定是否进入所述普通模式。
- 根据权利要求11所述的农业植保无人机，其中，若所述已作业信息的总量大于预设量，则进入所述普通模式。
- 根据权利要求1所述的农业植保无人机，其中，所述控制终端接收用户的激活请求，根据所述激活请求生成激活指令；所述飞行控制器根据所述激活指令，激活所述无人机。
- 根据权利要求13所述的农业植保无人机，其中，所述控制终端通过与所述无人机对应的秘钥对所述激活指令进行加密发送。
- 根据权利要求13所述的农业植保无人机，其中，所述飞行控制器通过对加密后的所述激活指令进行解密，并根据解密后的所述激活指令激活所述无人机。
- 根据权利要求1所述的农业植保无人机，其中，所述用户的作业信息包括如下至少一种：作业里程，作业面积，作业时间，作业药量，飞行时间，起飞次数，充值金额。
- 根据权利要求1所述的农业植保无人机，其中，若所述作业信息的剩余量小于等于预设值，则所述飞行控制器进入所述锁定状态。
- 根据权利要求17所述的农业植保无人机，其中，在所述锁定状态时，所述飞行控制器停止控制所述农业植保无人机的作业部件进行作业。
- 根据权利要求18所述的农业植保无人机，其中，所述作业部件包括如下至少一种：水泵，喷头，播撒器。
- 根据权利要求17所述的农业植保无人机，其中，在所述锁定状态时，所述飞行控制器控制所述动力装置不产生起飞动力；或者，在所述锁定状态时，所述飞行控制器控制所述农业植保无人机立即返航；或者，在所述锁定状态时，所述飞行控制器发送锁定的提示信息给所述农业植保无人机的遥控器；或者，其中，在所述锁定状态时，所述飞行控制器停止执行作业计划。
- 一种农业植保无人机的控制方法，其特征在于，所述方法包括：接收控制终端发送的控制模式的选择请求指令；根据所述控制模式的选择请求指令，选择普通模式或限制模式；根据选择的控制模式，控制所述动力装置提供飞行动力。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，若所述农业植保无人机的已作业信息的总量大于等于预设值，则所述控制终端发送选择所述普通模式的指令。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，还包括：在升级固件时，根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求23所述的农业植保无人机的控制方法，其中，还包括：根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求23所述的农业植保无人机的控制方法，其中，所述固件头信息包括如下至少一种：固件版本号，固件类型。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，所述控制终端根据所述农业植保无人机的SN码，获取作业信息的剩余量。
- 根据权利要求26所述的农业植保无人机的控制方法，其中，所述SN码对应唯一的秘钥，所述控制终端通过所述秘钥获取所述作业信息的剩余量。
- 根据权利要求26所述的农业植保无人机的控制方法，其中，所述SN码对应唯一的秘钥，通过所述秘钥与所述控制终端进行信息交互。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，还包括：通过一秘钥进行通信数据的加密或/及解密，所述农业植保无人机的SN码对应唯一的所述秘钥。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，还包括：实时获取当前的已作业信息；根据所述当前的已作业信息，更新本地存储的已作业信息。
- 根据权利要求30所述的农业植保无人机的控制方法，其中，还包括：获取已作业信息的总量，其中，所述已作业信息的总量为所述农业植保无人 机的所有历次已作业信息量之和；根据所述已作业信息的总量，确定是否进入所述普通模式。
- 根据权利要求31所述的农业植保无人机的控制方法，其中，若所述已作业信息的总量大于预设量，则进入所述普通模式。
- 根据权利要求21所述的农业植保无人机的控制方法，其中，接收激活指令；根据所述激活指令，激活所述无人机。
- 根据权利要求33所述的农业植保无人机的控制方法，其中，所述控制终端根据用户的激活请求生成所述激活指令，通过与所述无人机对应的秘钥对所述激活指令进行加密发送。
- 根据权利要求33所述的农业植保无人机的控制方法，其中，还包括：通过对加密后的所述激活指令进行解密，并根据解密后的所述激活指令激活所述无人机。
- 根据权利要求26所述的农业植保无人机的控制方法，其中，所述作业信息包括如下至少一种：作业里程，作业面积，作业时间，作业药量，飞行时间，起飞次数，充值金额。
- 根据权利要求26所述的农业植保无人机的控制方法，其中，若所述作业信息的剩余量小于等于预设值，则进入锁定状态。
- 根据权利要求37所述的农业植保无人机的控制方法，其中，在所述锁定状态时，停止控制所述农业植保无人机的作业部件进行作业。
- 根据权利要求38所述的农业植保无人机的控制方法，其中，所述作业部件包括如下至少一种：水泵，喷头，播撒器。
- 根据权利要求37所述的农业植保无人机的控制方法，其中，在所述锁定状态时，控制所述动力装置不产生起飞动力；或者，在所述锁定状态时，控制所述农业植保无人机立即返航；或者，在所述锁定状态时，发送锁定的提示信息给所述农业植保无人机的遥控器；或者，其中，在所述锁定状态时，停止执行作业计划。
- 一种农业植保无人机，其特征在于，包括：动力装置，用于给所述农业植保无人机提供飞行动力；飞行控制器，与所述动力装置电连接，用于控制所述动力装置调节飞行姿态；以及传感器，用于获取所述农业植保无人机作业时的作业相关信息，所述传感器与所述飞行控制器通信连接，其中，所述飞行控制器控制所述动力装置的控制模式，包括普通模式以及限制模式，在所述限制模式中，所述飞行控制器根据用户的作业信息，确定是否控制所述动力装置提供飞行动力；所述飞行控制器根据所述传感器获取的作业相关信息，确定所述农业植保无人机的已作业信息；所述飞行控制器根据所述已作业信息的总量，确定是否自动退出所述限制模式，进入普通模式。
- 根据权利要求41所述的农业植保无人机，其中，若所述已作业信息的总量大于等于预设值，则自动进入所述普通模式。
- 根据权利要求41所述的农业植保无人机，其中，在升级固件时，所述飞行控制器根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求43所述的农业植保无人机，其中，所述飞行控制器根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求43所述的农业植保无人机，其中，所述固件头信息包括如下至少一种：固件版本号，固件类型。
- 根据权利要求41所述的农业植保无人机，其中，所述农业植保无人机的控制终端根据所述农业植保无人机的SN码，获取作业信息的剩余量。
- 根据权利要求46所述的农业植保无人机，其中，所述SN码对应唯一的秘钥，所述控制终端通过所述秘钥获取所述作业信息的剩余量。
- 根据权利要求46所述的农业植保无人机，其中，所述SN码对应唯一的秘钥，所述控制终端通过所述秘钥与所述飞行控制器进行信息交互。
- 根据权利要求41所述的农业植保无人机，其中，所述飞行控制器通过一秘钥进行通信数据的加密或/及解密，所述农业植保无人机的SN码对应唯一的所述秘钥。
- 根据权利要求41所述的农业植保无人机，其中，所述飞行控制器还用于：实时获取当前的已作业信息；根据所述当前的已作业信息，更新本地存储的已作业信息。
- 根据权利要求50所述的农业植保无人机，其中，所述飞行控制器还用于：获取已作业信息的总量，其中，所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和；根据所述已作业信息的总量，确定是否自动进入所述普通模式。
- 根据权利要求51所述的农业植保无人机，其中，若所述已作业信息的总量大于预设量，则自动进入所述普通模式。
- 根据权利要求41所述的农业植保无人机，其中，所述农业植保无人机的控制终端接收用户的激活请求，根据所述激活请求生成激活指令；所述飞行控制器根据所述激活指令，激活所述无人机。
- 根据权利要求53所述的农业植保无人机，其中，所述控制终端通过与所述无人机对应的秘钥对所述激活指令进行加密发送。
- 根据权利要求53所述的农业植保无人机，其中，所述飞行控制器通过对加密后的所述激活指令进行解密，并根据解密后的所述激活指令激活所述无人机。
- 根据权利要求41所述的农业植保无人机，其中，所述作业信息包括如下至少一种：作业里程，作业面积，作业时间，作业药量，飞行时间，起飞次数，充值金额。
- 根据权利要求41所述的农业植保无人机，其中，若所述作业信息的剩余量小于等于预设值，则进入锁定状态。
- 根据权利要求57所述的农业植保无人机，其中，在所述锁定状态时，所述飞行控制器停止控制所述农业植保无人机的作业部件进行作业。
- 根据权利要求58所述的农业植保无人机，其中，所述作业部件包括如下至少一种：水泵，喷头，播撒器。
- 根据权利要求57所述的农业植保无人机，其中，在所述锁定状态时，控制所述动力装置不产生起飞动力；或者，在所述锁定状态时，控制所述农业植保无人机立即返航；或者，在所述锁定状态时，发送锁定的提示信息给所述农业植保无人机的遥控器；或者，其中，在所述锁定状态时，停止执行作业计划。
- 一种农业植保无人机的控制方法，其特征在于，所述方法包括：获取传感器获取的作业相关信息；根据所述作业相关信息，确定所述农业植保无人机的已作业信息；根据所述已作业信息的总量，确定是否自动退出限制模式，进入普通模式； 其中，在所述限制模式中，根据用户的作业信息，确定是否控制动力装置提供飞行动力。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，若所述已作业信息的总量大于等于预设值，则自动进入所述普通模式。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，还包括：在升级固件时，根据所述固件的固件头信息确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求63所述的农业植保无人机的控制方法，其中，还包括：根据所述固件的固件头信息中的固件版本号确定是否为当前所述农业植保无人机的固件版本。
- 根据权利要求63所述的农业植保无人机的控制方法，其中，所述固件头信息包括如下至少一种：固件版本号，固件类型。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，所述农业植保无人机的控制终端根据所述农业植保无人机的SN码，获取作业信息的剩余量。
- 根据权利要求66所述的农业植保无人机的控制方法，其中，所述SN码对应唯一的秘钥，所述控制终端所述秘钥获取所述作业信息的剩余量。
- 根据权利要求66所述的农业植保无人机的控制方法，其中，所述SN码对应唯一的秘钥，通过所述秘钥与所述控制终端进行信息交互。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，还包括：通过一秘钥进行通信数据的加密或/及解密，所述农业植保无人机的SN码对应唯一的所述秘钥。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，还包括：实时获取当前的已作业信息；根据所述当前的已作业信息，更新本地存储的已作业信息。
- 根据权利要求70所述的农业植保无人机的控制方法，其中，还包括：获取已作业信息的总量，其中，所述已作业信息的总量为所述农业植保无人机的所有历次已作业信息量之和；根据所述已作业信息的总量，确定是否自动进入所述普通模式。
- 根据权利要求71所述的农业植保无人机的控制方法，其中，若所述已作业信息的总量大于预设量，则自动进入所述普通模式。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，接收激活指令；根据所述激活指令，激活所述无人机。
- 根据权利要求73所述的农业植保无人机的控制方法，其中，所述农业植保无人机的控制终端根据用户的激活请求生成所述激活指令，通过与所述无人机对应的秘钥对所述激活指令进行加密发送。
- 根据权利要求73所述的农业植保无人机的控制方法，其中，还包括：通过对加密后的所述激活指令进行解密，并根据解密后的所述激活指令激活所述无人机。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，所述用户作业信息包括如下至少一种：作业里程，作业面积，作业时间，作业药量，飞行时间，起飞次数，充值金额。
- 根据权利要求61所述的农业植保无人机的控制方法，其中，若所述作业信息的剩余量小于等于预设值，则进入锁定状态。
- 根据权利要求77所述的农业植保无人机的控制方法，其中，在所述锁定状态时，停止控制所述农业植保无人机的作业部件进行作业。
- 根据权利要求78所述的农业植保无人机的控制方法，其中，所述作业部件包括如下至少一种：水泵，喷头，播撒器。
- 根据权利要求77所述的农业植保无人机的控制方法，其中，在所述锁定状态时，控制所述动力装置不产生起飞动力；或者，在所述锁定状态时，控制所述农业植保无人机立即返航；或者，在所述锁定状态时，发送锁定的提示信息给所述农业植保无人机的遥控器；或者，其中，在所述锁定状态时，停止执行作业计划。
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201880067326.2A CN111344225B (zh) | 2018-12-04 | 2018-12-04 | 农业植保无人机和农业植保无人机的控制方法 |
| PCT/CN2018/119235 WO2020113443A1 (zh) | 2018-12-04 | 2018-12-04 | 农业植保无人机和农业植保无人机的控制方法 |
| CN202311205342.2A CN117055436A (zh) | 2018-12-04 | 2018-12-04 | 无人机和无人机的控制方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/119235 WO2020113443A1 (zh) | 2018-12-04 | 2018-12-04 | 农业植保无人机和农业植保无人机的控制方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020113443A1 true WO2020113443A1 (zh) | 2020-06-11 |
Family
ID=70975293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2018/119235 WO2020113443A1 (zh) | 2018-12-04 | 2018-12-04 | 农业植保无人机和农业植保无人机的控制方法 |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN111344225B (zh) |
| WO (1) | WO2020113443A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247265A (zh) * | 2021-06-28 | 2021-08-13 | 泗县汉和智能装备科技有限公司 | 一种基于大数据的植保无人机农药精准喷施*** |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112956310B (zh) * | 2021-02-09 | 2022-01-14 | 中国矿业大学(北京) | 一种采煤沉陷区飞播生物修复方法 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110071704A1 (en) * | 2006-09-06 | 2011-03-24 | Matos Jeffrey A | Systems and methods for detecting and managing the unauthorized use of an unmanned aircraft |
| CN104615143A (zh) * | 2015-01-23 | 2015-05-13 | 广州快飞计算机科技有限公司 | 无人机调度方法 |
| CN104809918A (zh) * | 2015-05-27 | 2015-07-29 | 张忠义 | 一种无人机飞行管理方法 |
| CN104965527A (zh) * | 2015-07-03 | 2015-10-07 | 深圳市大疆创新科技有限公司 | 云台控制方法及云台 |
| CN105139693A (zh) * | 2015-07-28 | 2015-12-09 | 顺丰科技有限公司 | 无人机监控方法及无人机管理平台 |
| CN105761550A (zh) * | 2016-03-01 | 2016-07-13 | 北京航空航天大学 | 无人机空中运行的安全管控方法、无人机和服务器 |
| CN106406189A (zh) * | 2016-11-28 | 2017-02-15 | 中国农业大学 | 一种无人机植保作业的电子围栏监控方法 |
| CN106716286A (zh) * | 2016-09-27 | 2017-05-24 | 深圳市大疆创新科技有限公司 | 控制方法、控制装置、遥控***及无人机控制*** |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3813303B2 (ja) * | 1997-06-09 | 2006-08-23 | ヤマハ発動機株式会社 | 薬剤散布システム |
| CN109782808B (zh) * | 2016-04-29 | 2021-08-24 | 深圳市大疆创新科技有限公司 | 无人机的喷洒控制方法和无人机 |
| CN106251129B (zh) * | 2016-08-02 | 2020-02-14 | 广西圣尧航空科技有限公司 | 一种作业费用计算支付装置、***及方法 |
| CN107765709B (zh) * | 2016-08-22 | 2021-12-31 | 广州亿航智能技术有限公司 | 基于飞行器实现自拍的方法及装置 |
| WO2018094628A1 (zh) * | 2016-11-23 | 2018-05-31 | 深圳市大疆创新科技有限公司 | 无人飞行器控制方法、服务器及遥控器 |
| CN107792383A (zh) * | 2017-10-19 | 2018-03-13 | 珠海羽人农业航空有限公司 | 流动式共享农业无人机服务站 |
-
2018
- 2018-12-04 CN CN201880067326.2A patent/CN111344225B/zh active Active
- 2018-12-04 WO PCT/CN2018/119235 patent/WO2020113443A1/zh active Application Filing
- 2018-12-04 CN CN202311205342.2A patent/CN117055436A/zh active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110071704A1 (en) * | 2006-09-06 | 2011-03-24 | Matos Jeffrey A | Systems and methods for detecting and managing the unauthorized use of an unmanned aircraft |
| CN104615143A (zh) * | 2015-01-23 | 2015-05-13 | 广州快飞计算机科技有限公司 | 无人机调度方法 |
| CN104809918A (zh) * | 2015-05-27 | 2015-07-29 | 张忠义 | 一种无人机飞行管理方法 |
| CN104965527A (zh) * | 2015-07-03 | 2015-10-07 | 深圳市大疆创新科技有限公司 | 云台控制方法及云台 |
| CN105139693A (zh) * | 2015-07-28 | 2015-12-09 | 顺丰科技有限公司 | 无人机监控方法及无人机管理平台 |
| CN105761550A (zh) * | 2016-03-01 | 2016-07-13 | 北京航空航天大学 | 无人机空中运行的安全管控方法、无人机和服务器 |
| CN106716286A (zh) * | 2016-09-27 | 2017-05-24 | 深圳市大疆创新科技有限公司 | 控制方法、控制装置、遥控***及无人机控制*** |
| CN106406189A (zh) * | 2016-11-28 | 2017-02-15 | 中国农业大学 | 一种无人机植保作业的电子围栏监控方法 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247265A (zh) * | 2021-06-28 | 2021-08-13 | 泗县汉和智能装备科技有限公司 | 一种基于大数据的植保无人机农药精准喷施*** |
| CN113247265B (zh) * | 2021-06-28 | 2021-12-21 | 泗县汉和智能装备科技有限公司 | 一种基于大数据的植保无人机农药精准喷施*** |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117055436A (zh) | 2023-11-14 |
| CN111344225A (zh) | 2020-06-26 |
| CN111344225B (zh) | 2023-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11209815B2 (en) | Drone control registration | |
| CN106714554B (zh) | 无人机的喷洒控制方法和无人机 | |
| WO2020113443A1 (zh) | 农业植保无人机和农业植保无人机的控制方法 | |
| US10431997B2 (en) | Computerized information system for smart grid integrated electric vehicle charging and associated method | |
| WO2018094628A1 (zh) | 无人飞行器控制方法、服务器及遥控器 | |
| US20190049984A1 (en) | Automatic Working System and Control Method Thereof | |
| CN105197243A (zh) | 一种农用无人机机载变量施药***及方法 | |
| CN108575095B (zh) | 自移动设备及其定位***、定位方法和控制方法 | |
| CN106200680A (zh) | 一种无人机集群管理***及其控制方法 | |
| CN104853341B (zh) | 信息设置装置及方法、非暂态计算机可读存储介质和无线通信*** | |
| US20210337718A1 (en) | Automatic field partners | |
| CN106932801A (zh) | 一种用于无人机的手持地面站及测绘定位方法 | |
| CN105518546A (zh) | 喷灌控制*** | |
| US20240049627A1 (en) | Improved operation for a robotic work tool | |
| US20200004238A1 (en) | Method and apparatus for controlling f channel | |
| CN110869872A (zh) | 障碍物的精准确定方法、设备及计算机可读存储介质 | |
| US20240180061A1 (en) | Simultaneous mapped view of historical and realtime geospatial and non-geospatial data | |
| CN109960270A (zh) | 一种确定无人机飞行路径的方法及装置 | |
| WO2019119232A1 (zh) | 无人机的作业区域解禁方法、装置及*** | |
| EP3776107B1 (en) | Improved serviceability for a robotic working tool | |
| EP4230036A1 (en) | Targeted treatment of specific weed species with multiple treatment devices | |
| CN108039760A (zh) | 一种基于大数据云平台远程管理的分布式智慧充电*** | |
| CA3224125A1 (en) | Targeted treatment of specific weed species with multiple treatment devices | |
| WO2020113446A1 (zh) | 农业植保无人机及其控制方法 | |
| CN110942673B (zh) | 基于不同身份无人机之间的管控***及方法 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18942473 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 17.09.2021) |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 18942473 Country of ref document: EP Kind code of ref document: A1 |