WO2020118500A1 - 控制方法、控制***、计算机可读存储介质和可飞行设备 - Google Patents
控制方法、控制***、计算机可读存储介质和可飞行设备 Download PDFInfo
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- WO2020118500A1 WO2020118500A1 PCT/CN2018/120196 CN2018120196W WO2020118500A1 WO 2020118500 A1 WO2020118500 A1 WO 2020118500A1 CN 2018120196 W CN2018120196 W CN 2018120196W WO 2020118500 A1 WO2020118500 A1 WO 2020118500A1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0645—Rental transactions; Leasing transactions
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0042—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects
Definitions
- the present disclosure relates to the field of control technology, and in particular, to a control method, a control system, a computer-readable storage medium, and a flightable device.
- UAV Unmanned Aerial
- UAV plant maintenance and cultivation UAV aerial photography
- UAV forest fire monitoring UAV forest fire monitoring
- the unit price of purchasing the flightable equipment is expensive, and its maintenance cost is high, which is very unfavorable to the popularization and application of the flightable equipment, and cannot guarantee the effect of the flightable equipment performing the flight operation.
- the embodiments of the present disclosure aim to provide a control method, a control system, a flightable device, and a computer-readable storage medium to reduce the use cost of the flightable device, and at the same time, help to improve the effect of the flightable device performing flight operations and reliability.
- the technical solution of the first aspect of the present disclosure improves a control method, including: acquiring the current state of a flightable device, the state including a ready-to-take-off state and an in-flight state; determining the flightable device The current state of is ready to take off; obtain the current remaining operational information quota of the flightable device, the operational information quota is determined according to the user's recharge amount; determine whether the operational information quota meets the preset value; if not, Then the flightable device is prohibited from taking off.
- the technical solution of the second aspect of the present disclosure provides a control system, a flight controller, for acquiring the current state of the flightable device, the state including a ready-to-take-off state and an in-flight state; determining the current state of the flightable device as Prepare for take-off status; obtain the current operational information quota of the flightable equipment, which is determined according to the user's recharge amount; the memory, establish communication with the flight controller, and store the operational information quota of the flightable equipment; The power system establishes communication with the flight controller to provide the flight power of the flightable equipment; wherein, when the flight controller determines that the current remaining operational information quota does not meet the preset value, the power system is prohibited Start to prohibit the flightable device from taking off.
- the technical solution of the third aspect of the present disclosure provides a computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed, the steps of the control method as provided in the first aspect of the embodiments of the present disclosure are implemented .
- a technical solution of the fourth aspect of the present disclosure provides a flightable device, including: a hardware device configured to realize movement, flight, image acquisition, and sprinkling irrigation of the flightable device; according to any one of the above technical solutions
- a defined control system configured to control the hardware device to execute the received instructions.
- the current remaining operations of the flightable device are obtained by determining the current state of the flightable device as the ready-to-take-off state
- the information quota provides a rechargeable use plan for flightable equipment. It does not require users to purchase flightable equipment, so they can rent flightable equipment through recharge. At the same time, it also reduces the user's maintenance cost of flightable equipment. In addition, When the recharge amount is insufficient, prompt the user in time to meet the user's needs as much as possible, so that the flightable equipment can complete the task in a more timely manner.
- FIG. 1 shows a schematic diagram of a flightable equipment system according to an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of a control method according to an embodiment of the present disclosure
- FIG. 3 shows a schematic diagram of a control method of another embodiment of the present disclosure
- FIG. 4 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure.
- a component when a component is said to be “fixed” to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there can be centered components at the same time.
- the flightable equipment system 10 may include a control terminal 110 and a flightable equipment 120.
- the flightable device 120 may be a single-rotor or multi-rotor flightable device. In some cases, the flightable device 120 may be a fixed-wing flightable device.
- the flightable device 120 may include a transmission device 102, a control system 104, a gimbal 106, a power supply system 108, and a fuselage.
- the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
- the flightable device may further include a tripod, wherein the tripod is connected to the fuselage for supporting the landing of the flightable device.
- the transmission device 102 may send the data collected by the power system 1046 and/or the image collection device 1064 to the control terminal 110.
- the control terminal 110 may include a transmission device (not shown).
- the transmission device of the control terminal may establish a wireless communication connection with the transmission device 102 of the flightable device 120.
- the transmission device of the control terminal may receive data sent by the transmission device 102.
- control The terminal 110 may also send control instructions to the flightable device 120 through the transmission device configured by itself.
- the control terminal 110 may include a controller 1102 and a display device 1104.
- the controller 1102 can control various operations of the control terminal.
- the controller 1102 can control the transmission device to receive data sent by the flightable device 120 through the transmission device 102, and for another example, the controller 1102 can control the display device 1104 to display the transmitted data, where the data can include the environment captured by the image acquisition device 1064 Image, posture information, position information, power information, etc.
- the control system 104 may include a flight controller 1042, a memory 1044, a power system 1046, a sensor 1048, and a timer 10410.
- the control system 104 includes one or more types of sensors 1048, wherein the sensors 1048 can output and transmit sensor data to measure the status data of the flightable device 120.
- the most important component of the sensor 1048 is a position sensor.
- the position sensor includes at least one of a gyroscope, a positioning antenna, an electronic compass, and an inertial measurement unit.
- it may include an ultrasonic sensor, a visual sensor (monocular sensor or binocular sensor) ), at least one of sensors such as environmental sensors and barometers.
- the positioning antenna can calculate the heading information of the flightable device 120 based on the Global Positioning System (Global Positioning System, GPS).
- Global Positioning System Global Positioning System, GPS
- the flight controller 1042 is used to control various operations of the flightable equipment.
- the flight controller 1042 can control the movement of the flightable device, and for another example, the flight controller 1042 can control the power system 1046 of the flightable device to collect data.
- the power system 1046 may include one or more power components used to provide flight power to the flightable device 120, which enables the flightable device 120 to realize one or more degrees of freedom of movement.
- the flightable device 120 further includes a gimbal 106.
- the gimbal 106 may include a motor 1062.
- the gimbal 106 is used to carry the image acquisition device 1064.
- the flight controller 1042 may control the gimbal 106 through the motor. movement. It should be understood that the gimbal 106 may be independent of the flightable device 120 or may be a part of the flightable device 120.
- the image acquisition device 1064 may be fixedly connected to the fuselage of the flightable device 120.
- the gimbal 106 may include an image acquisition device 1064.
- the image acquisition device 1064 may be a device such as a camera or a video camera for capturing images.
- the image acquisition device 1064 may communicate with the flight controller 1042 and control the flight Shooting under the control of the device 1042.
- the flightable device 120 further includes a power supply system 108.
- the power supply system 108 may include a battery 1082 and a BMS (Battery Management System, battery management system) 1084.
- BMS Battery Management System, battery management system
- the battery 1082 is used to supply power to the flightable device 120, for example, the power system 1046.
- any of the above controllers may include one or more processors, where the one or more processors may work individually or cooperatively.
- control method of the above-mentioned flightable device specifically includes the following embodiments.
- control method As shown in FIG. 2, the control method according to an embodiment of the present disclosure specifically includes:
- step S202 the current state of the flightable device is obtained, and the state includes a ready-to-take-off state and an in-flight state.
- Step S204 it is determined that the current state of the flightable device is a ready-to-take-off state.
- the flight control is performed separately for the ready-to-take-off state and the in-flight state, especially in the ready-to-take-off state, it is possible to predict whether the operation information quota meets a preset value, on the one hand, it can meet The user's use requirements, on the other hand, can ensure that the flightable equipment performs flight operations more reliably.
- Step S206 Obtain the current remaining operation information quota of the flightable device, and the operation information quota is determined according to the user's recharge amount.
- the recharge amount can meet the needs of the flight operation, and promptly prompt the user Recharge, so that the recharge amount can ensure that the flight equipment can complete the flight operation.
- the limitation of the recharge amount provides a method for renting the flightable equipment, which does not require the user to purchase the flightable equipment at a high unit price, and reduces the maintenance cost of the flightless equipment.
- step S208 it is determined whether the quota of job information satisfies a preset value.
- step S210 if not satisfied, the flightable device is prohibited from taking off.
- Step S212 if satisfied, allow the flightable device to take off.
- the flightable device is prohibited from taking off, and at the same time, prompting the user in time to ensure that the recharge amount can meet the needs of the flight operation, thereby ensuring the availability The effect of flight equipment performing flight operations.
- the operational information quota of the flightable device does not meet the preset value, before the next recharge amount is updated, it can be determined based on the remaining power of the flightable device whether the detection does not meet the preset value Operation information quota to reduce power consumption of flightable equipment.
- obtaining the current state of the flightable device includes the following steps: obtaining the operating parameters of the power system of the flightable device, the operation parameters corresponding to the ready-to-take-off state or the in-flight state,
- the power system includes a motor assembly and/or a propeller assembly.
- an operating parameter of a power system of the flightable device is obtained, the operating parameter corresponding to the ready-to-take-off state or the in-flight state, the power system includes a motor assembly and/or a propeller assembly, wherein the power The system is configured to support the flying equipment to complete the operations of flying, moving, sprinkling and irrigation.
- the motor component includes the motor, motor drive circuit and hardware connection
- the propeller component is mainly configured to support the flying and steering of the flying equipment, that is, in When the propeller assembly and the motor assembly work simultaneously, the flightable device is usually in flight.
- the operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.
- obtaining the current state of the flightable device specifically includes the following steps: obtaining a control instruction received by the flightable device, the control instruction being converted and generated according to a user's touch operation, wherein the control instruction It is used to adjust or set the operating parameters of the flightable equipment.
- the user's touch operation can be directly converted into a control instruction via the control terminal and sent to the flightable device, or the control terminal forwards the touch operation to the flightable device via the communication node device, where the communication node device includes a router, Servers, base stations, etc., but not limited to this.
- the communication node device includes a router, Servers, base stations, etc., but not limited to this.
- acquiring the current state of the flightable device specifically includes the following steps: acquiring sensory data of the flightable device, the sensory data including collected environmental image data, environmental parameter data, and flight attitude data.
- the environment in which the flightable device is located can be intuitively displayed to the user
- the environmental parameter data mainly includes data detected by the sensor,
- the temperature information detected by the temperature sensor the humidity information detected by the humidity sensor, the air pressure information detected by the barometer, the brightness information detected by the brightness sensor, and the positioning information received by the antenna, etc.
- the flight attitude information includes the gyroscope detected Attitude information, speed information detected by the accelerometer, etc., but not limited to this.
- the environmental image data includes at least one of the following: still picture data, dynamic picture data, and camera data.
- the resolution of the static picture data is adjustable.
- the time and interval for sending the static picture can be determined according to the current communication quality of the flightable device or the user request.
- the dynamic picture data can reflect the continuous environmental change information.
- the camera data can record the environmental change information more accurately, and feedback to the control terminal for the user to analyze the environmental data through the control terminal.
- the environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.
- the flight attitude data includes at least one of the following: accelerometer data and gyroscope data.
- the job information quota includes at least one of the following: a job area credit, a job mileage credit, and a job duration credit.
- control method further includes: recording the flight distance of the flightable device; performing the spraying operation, and recording the spray width and spraying distance of the flightable device; and recording the operation time of the flightable device.
- the flightable device can be in flight In the status, it can monitor the progress of the sprinkler irrigation operation of the flightable equipment in real time, and can be used to determine whether the recharge amount can complete the remaining sprinkler irrigation operations in time, especially when the recharge amount is insufficient, the flightable equipment does not terminate the sprinkler irrigation operation, and It is to prompt the user to perform recharge operations in time to improve the reliability and integrity of the flying equipment to complete the sprinkling irrigation operation, and improve the efficiency of the flying equipment to perform the sprinkling irrigation operation.
- determining whether the operation information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; determining the operation area quota Whether it is greater than or equal to the preset area, and/or whether the operating mileage limit is greater than or equal to the preset mileage, and/or whether the operating duration limit is greater than or equal to the preset duration.
- sprinkler irrigation area, sprinkler irrigation mileage and sprinkler irrigation duration are the three most important indicators for detecting whether the flying equipment has completed the sprinkler irrigation operation.
- the priority can be preset to analyze and judge the above three indicators, or simultaneously Judge the above three indicators, or select at least one of the three indicators according to the recharge amount for analysis and judgment.
- the order of preset priority from high to low is preset area, preset mileage and preset duration.
- determining whether the operation information quota meets a preset value specifically includes the following steps: determining that the operation area quota is less than the preset area, or determining that the operation mileage quota is less than the preset mileage Or it is determined that the operation time limit is less than the preset time period, it is determined that the operation information amount does not satisfy the preset value; the flightable device is prohibited from taking off.
- the flightable device when it is determined that any one of the operation area quota, the operation mileage quota, and the operation duration quota does not satisfy the preset value, the flightable device is prohibited from taking off, which can ensure that the flightable device can perform the sprinkling irrigation operation with the greatest probability after takeoff, In turn, it helps to improve the user experience.
- determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information amount meets the preset value; the flightable device is controlled to take off and operate.
- the flightable equipment when it is determined that the operation area quota, the operation mileage quota, and the operation duration quota all satisfy the preset values, it is determined to control the flightable equipment to take off and execute the operation, so as to maximize the effect and reliability of the flightable equipment to complete the sprinkling irrigation operation.
- control method further includes: after the flightable device takes off and operates, until the operation information quota is less than the preset value, the operation is stopped and/or the safe return flight is performed.
- determining whether the job information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; in order according to the preset priority Judging whether the operating area quota is greater than or equal to the preset area, and/or whether the operating mileage quota is greater than or equal to the preset mileage, and/or whether the operating time quota is greater than or equal to the preset duration.
- a preset priority it is determined in sequence whether the operation area quota is greater than or equal to the preset area, and/or whether the operation mileage quota is greater than or equal to the preset mileage, and/or the operation Whether the time limit is greater than or equal to the preset time period, on the one hand, it reduces the conditions that restrict the flight equipment from taking off and operating, on the other hand, when the user cannot recharge, it can meet part of the user's use needs as much as possible, and Improve the user experience.
- determining whether the job information quota meets a preset value specifically includes the steps of: determining that the job area quota is greater than or equal to the preset area, and determining that the job mileage quota is less than the pre-set Set a mileage and determine that the operating time limit is less than the preset duration, determine that the flightable equipment meets the restrictions of the operation area; control the flightable equipment to take off and operate until the operation area amount is less than the Stop operation and/or return safely when preset area.
- the highest preset priority in the operation information quota is the operation area quota, followed by the operation mileage quota, and again the operation time quota, when it is determined that the operation area quota meets the preset value, but,
- the operating area limit is still used as the upper limit to control the operating area of the flightable equipment, not only when the recharge amount is insufficient, if only the operating area limit is determined in the state of preparing for take-off Satisfying the preset value, when the flightable device is in flight, there is no need to detect the operating mileage limit and the operating time limit, which effectively reduces the power consumption of the flightable device and, at the same time, improves the user experience.
- determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is less than the preset time length, it is determined that the flightable equipment meets the restrictions of the operation area and the operation mileage; after controlling the flightable equipment to take off and operate, to the operation When the area quota is smaller than the preset area, and the operation mileage quota is smaller than the preset mileage, the operation is stopped and/or the safe return flight is stopped.
- the operating area quota is still used as the upper limit to control the operating area of the flightable device, if it is preparing to take off In the state, it is determined that the operating area limit and the operating mileage limit meet the preset values.
- the flightable device is in flight, there is no need to detect the operation time limit, which effectively reduces the power consumption of the flightable device, and at the same time, improves the user’s Use experience.
- control method further includes: when determining that the current state of the flightable device is an in-flight state, detecting the flight distance and spray width of the flightable device; based on the flight distance and The spray width updates the operating area limit.
- the flight distance and the spray width of the flightable device are detected, and the working area is updated according to the flight distance and the spray width Quota, calculate the operating area quota more accurately, and improve the reliability and accuracy of monitoring the sprinkler irrigation operation of the flying equipment.
- control method further includes: detecting the flight path and/or flight rate of the flightable device when determining that the current state of the flightable device is the in-flight state; according to the flight path and And/or the flight rate updates the operating mileage limit.
- control method further includes: when it is determined that the current state of the flightable device is an in-flight state, recording the flight time of the flightable device; updating the flight time limit according to the flight time .
- the above control method includes the following specific steps: Step S302, prompting the user to recharge, and updating the locally stored recharge amount according to a preset period; Step S304, obtaining the current status of the flightable device The status includes the ready-to-take-off status and the in-flight status; step S306, it is determined that the current status of the flightable device is the ready-to-takeoff status; step S308, the current remaining operation information quota of the flightable equipment is acquired, and the operation information quota is based on the user's recharge amount OK; step S310, it is determined whether the operation information quota meets the preset value, if yes, step S312 is executed, if not, step S314 is executed; step S312, the flightable device is allowed to take off; step S314, the flightable device is prohibited from taking off.
- control system 104 specifically includes hardware devices and implementation schemes as follows:
- the flight controller 1042 is used to obtain the current state of the flightable device 120, and the state includes a ready-to-take-off state and an in-flight state; it is determined that the current state of the flightable device 120 is the ready-to-takeoff state; and the current operation information of the flightable device 120 is obtained Quota, the job information quota is determined according to the user's recharge amount.
- the memory 1044 establishes communication with the flight controller 1042 and is used to store the operational information quota of the flightable device 120.
- the power system 1046 establishes communication with the flight controller 1042 for providing flight power of the flightable device 120.
- the power system 1046 is prohibited from starting to prohibit the flightable device 120 from taking off.
- the flight control is performed separately for the ready-to-take-off state and the in-flight state, especially in the ready-to-take-off state, it is possible to predict whether the operation information quota meets a preset value. Satisfying the user's use requirements, on the other hand, it can ensure that the flightable device 120 performs flight operations more reliably.
- the current remaining operational information quota of the flightable device 120 due to the correspondence between the recharge amount and the operational information quota, it can be indirectly determined whether the recharge amount can meet the needs of the flight operation, and promptly prompt The user performs recharge so that the recharge amount can ensure that the flightable device 120 completes the flight operation.
- the limitation of the recharge amount provides a method for renting the flightable equipment 120, which does not require the user to purchase the flightable equipment 120 at a high unit price, and reduces the maintenance cost of the flightless equipment 120.
- the flightable device 120 is prohibited from taking off, and at the same time, prompting the user in time to ensure that the recharge amount can meet the needs of the flight operation, thereby ensuring The effect of the flightable device 120 performing flight operations.
- the flight controller 1042 is further configured to: obtain operating parameters of the power system 1046 of the flightable device 120, the operating parameters corresponding to the take-off state or the in-flight state, so
- the power system 1046 includes a motor assembly and/or a propeller assembly.
- the operating parameters of the power system 1046 of the flightable device 120 are obtained, the operating parameters corresponding to the ready-to-take-off state or the in-flight state, the power system 1046 includes a motor component and/or a propeller component, Among them, the power system 1046 is configured to support the flying device 120 to complete the operation operations of flying, moving, sprinkling and irrigation.
- the motor assembly includes a motor, a motor driving circuit and a hardware connection
- the propeller assembly is mainly configured to support the flight of the flying device 120 And steering, that is, when the propeller assembly and the motor assembly work at the same time, the flightable device 120 is usually in flight.
- the operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.
- the flight controller 1042 is further configured to: obtain a control instruction received by the flightable device 120, and the control instruction is converted and generated according to a user's touch operation, wherein the control instruction is used To adjust or set the operating parameters of the flightable device 120.
- the user's touch operation can be directly converted into a control instruction via the control terminal and sent to the flightable device 120, or the control terminal can forward the touch operation to the flightable device 120 via the communication node device, where the communication node device includes Routers, servers, base stations, etc., but not limited to this.
- the flight controller 1042 is further configured to: acquire sensory data of the flightable device 120, and the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.
- the environmental parameter data mainly includes sensors detected Data, such as temperature information detected by a temperature sensor, humidity information detected by a humidity sensor, air pressure information detected by a barometer, brightness information detected by a brightness sensor, and positioning information received by an antenna, etc., but not limited to this
- flight attitude information includes a gyroscope Detected posture information, accelerometer detected speed information, etc., but not limited to this.
- the environmental image data includes at least one of the following: still picture data, dynamic picture data, and camera data.
- the resolution of the still picture data is adjustable.
- the time and interval for sending the still picture can be determined according to the current communication quality of the flightable device 120 or a user request. The amount of calculation is small.
- the dynamic picture data can reflect continuous environmental change information.
- the camera data can record the environmental change information more accurately and feed back to the control terminal for the user to analyze the environmental data through the control terminal.
- the environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.
- the flight attitude data includes at least one of the following: accelerometer data and gyroscope data.
- the job information quota includes at least one of the following: a job area credit, a job mileage credit, and a job duration credit.
- control system further includes: a position sensor 1048 for recording the flying distance of the flyable device 120; a spraying system for performing the spraying operation and recording the spray width and spraying distance of the sprayable operation of the flying device 120
- the timer 10410 is used to record the operating time of the flightable device 120; wherein the position sensor 1048, the spray system, and the timer 10410 all establish communication with the flight controller 1042.
- the flightable device 120 by recording the flying distance of the flyable device 120 and performing the spraying operation, and recording the spray width and spraying distance of the spraying operation of the flyable device 120, and recording the operating time of the flyable device 120,
- the progress of the sprinkling irrigation operation performed by the flightable device 120 is monitored in real time, and can be used to determine whether the recharge amount can complete the remaining sprinkler irrigation operations in time, especially when the recharge amount is insufficient, the flightable device 120 is not terminated
- Continue to perform sprinkling irrigation operations but promptly prompt the user to perform recharge operations to improve the reliability and integrity of the flying equipment 120 to complete the sprinkling irrigation operations, and improve the efficiency of the flying equipment 120 to perform the sprinkling irrigation operations.
- the flight controller 1042 is further configured to: parse the preset area, preset mileage, and preset duration included in the preset value; determine whether the operating area quota is greater than or equal to the Preset area, and/or determine whether the operating mileage limit is greater than or equal to the preset mileage, and/or determine whether the operating duration limit is greater than or equal to the preset duration.
- sprinkler irrigation area For sprinkler irrigation operations, sprinkler irrigation area, sprinkler irrigation mileage and sprinkler irrigation duration are the three most important indicators for detecting whether the flyable device 120 has completed sprinkler irrigation operations.
- the priority can be preset to analyze and judge the above three indicators, or simultaneously Analyze and judge the above three indicators, or select at least one of the three indicators according to the recharge amount to analyze and judge.
- the order of preset priority from high to low is preset area, preset mileage and preset duration.
- the flight controller 1042 is further configured to: determine that the operating area limit is less than the preset area, or determine that the operating mileage limit is less than the preset mileage, or determine the operation When the duration limit is less than the preset duration, it is determined that the operation information limit does not satisfy the preset value; the flightable device 120 is prohibited from taking off.
- the flightable device 120 when it is determined that any one of the operating area quota, the operating mileage quota, and the operating duration quota does not satisfy the preset value, the flightable device 120 is prohibited from taking off, which can ensure that the flightable device 120 can perform sprinkling irrigation with the greatest probability after taking off Homework, which in turn helps to improve the user experience.
- the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is greater than or equal to the preset mileage, and When it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information limit meets the preset value; the flightable device 120 is controlled to take off and operate.
- the flying equipment 120 when it is determined that the operating area quota, the operating mileage quota, and the operating duration quota all meet the preset values, it is determined to control the flying equipment 120 to take off and perform the operation, so as to maximize the effect and reliability of the flying equipment 120 to complete the sprinkling irrigation operation. Sex.
- the flight controller 1042 is further configured to stop the operation and/or return safely after the flightable device 120 takes off and operates until the operation information quota is less than the preset value.
- the flight controller 1042 is further configured to: parse a preset area, a preset mileage, and a preset duration included in the preset value; and sequentially determine the operating area quota according to a preset priority Whether it is greater than or equal to the preset area, and/or whether the operating mileage limit is greater than or equal to the preset mileage, and/or whether the operating duration limit is greater than or equal to the preset duration.
- a preset priority it is determined in sequence whether the operation area quota is greater than or equal to the preset area, and/or whether the operation mileage quota is greater than or equal to the preset mileage, and/or the operation Whether the duration limit is greater than or equal to the preset duration, on the one hand, it reduces the conditions that limit the flightable device 120 to take off and operate; on the other hand, when the user cannot recharge, it can meet part of the user's use needs as much as possible. In turn, the user experience is improved.
- the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is less than the preset mileage, and determine When the operation time limit is less than the preset time period, it is determined that the flightable device 120 meets the limitation of the operation area; when the flightable device 120 is controlled to take off and operate until the operation area limit is less than the preset area Stop operation and/or return safely.
- the highest preset priority in the operation information quota is the operation area quota, followed by the operation mileage quota, and again the operation time quota, when it is determined that the operation area quota meets the preset value, but, When the operating time limit and operating mileage limit do not meet the preset value, the operating area of the flightable device 120 is still controlled by the operating area limit, not only when the recharge amount is insufficient, if only the operating area is determined in the state of preparing for take-off If the quota meets the preset value, when the flightable device 120 is in flight, there is no need to detect the operation mileage limit and the operation time limit, which effectively reduces the power consumption of the flightable device 120 and, at the same time, improves the user experience.
- the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is greater than or equal to the preset mileage, and When it is determined that the operating time limit is less than the preset duration, it is determined that the flightable device 120 meets the restrictions of the operating area and operating mileage; when the flightable device 120 is controlled to take off and operate until the operating area limit is less than the The preset area, and when the operating mileage limit is less than the preset mileage, stop the operation and/or return safely.
- the operating area of the flightable device 120 is still controlled with the operating area quota as the upper limit. In the take-off state, it is determined that the operating area limit and the operating mileage limit meet the preset values.
- the flightable device 120 is in flight, there is no need to detect the operation time limit, which effectively reduces the power consumption of the flightable device 120. The user experience.
- the spraying system is further configured to: when determining that the current state of the flightable device 120 is an in-flight state, detect the spraying distance and spray width of the flightable device 120; the flight The controller 1042 is further configured to update the quota of the working area according to the spray distance and the spray width.
- the flight distance and the spray width of the flightable device 120 are detected, and the update is performed according to the flight distance and the spray width
- the work area quota is calculated more accurately to obtain the work area quota, which improves the reliability and accuracy of monitoring the flying equipment 120 to complete the sprinkling irrigation operation.
- the position sensor 1048 is further used to: when determining that the current state of the flightable device 120 is the in-flight state, detect the flight trajectory and/or flight rate of the flightable device 120;
- the flight controller 1042 is also used to update the operating mileage limit according to the flight trajectory and/or the flight rate.
- the timer 10410 is also used to: when determining that the current state of the flightable device 120 is the in-flight state, record the flight time of the flightable device 120; the flight controller 1042 , Also used to: update the flight duration quota according to the flight time.
- the embodiments of the present disclosure provide a computer-readable storage medium 400, a flight controller 1042 and a memory 1044 are provided on the control system 104, and the computer-readable storage medium 400, on which is stored
- the computer program 402 when executed by the flight controller 1042, implements the steps of the control method as defined in any of the above embodiments.
- the flight controller 1042 may be a central processing unit (Central Processing Unit, CPU).
- the flight controller 1042 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application-specific integrated circuits (Application Specific Integrated) Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
- the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the memory 1044 is used to store program codes and record status data.
- the flight controller 1042 is used to call the code of the computer program 402 to perform the flight operation, specifically performing the following steps:
- the flight control is performed separately for the ready-to-take-off state and the in-flight state, especially in the ready-to-take-off state, it is possible to predict whether the operation information quota meets a preset value. Satisfying the user's use requirements, on the other hand, it can ensure that the flightable device 120 performs flight operations more reliably.
- the flightable device 120 is prohibited from taking off.
- obtaining the current state of the flightable device 120 specifically includes the following steps: obtaining operation parameters of the power system 1046 of the flightable device 120, the operation parameters corresponding to the ready-to-take-off state or the flight In the neutral state, the power system 1046 includes a motor assembly and/or a propeller assembly.
- the operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.
- obtaining the current state of the flightable device 120 specifically includes the following steps: obtaining a control instruction received by the flightable device 120, the control instruction being converted and generated according to a user's touch operation, wherein, the The control instruction is used to adjust or set the operating parameters of the flightable device 120.
- acquiring the current state of the flightable device 120 specifically includes the following steps: acquiring sensory data of the flightable device 120, the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.
- the environmental image data includes at least one of the following: still picture data, dynamic picture data, and camera data.
- the environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.
- the flight attitude data includes at least one of the following: accelerometer data and gyroscope data.
- the job information quota includes at least one of the following: a job area credit, a job mileage credit, and a job duration credit.
- control method further includes: recording the flying distance of the flyable device 120; performing the spraying operation, and recording the spray width and spraying distance of the spraying operation of the flying device 120; recording the operating time of the flying device 120 .
- determining whether the operation information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; determining the operation area quota Whether it is greater than or equal to the preset area, and/or whether the operating mileage limit is greater than or equal to the preset mileage, and/or whether the operating duration limit is greater than or equal to the preset duration.
- determining whether the operation information quota meets a preset value specifically includes the following steps: determining that the operation area quota is less than the preset area, or determining that the operation mileage quota is less than the preset mileage , Or when it is determined that the operation time limit is less than the preset time period, it is determined that the operation information amount does not satisfy the preset value; the flightable device 120 is prohibited from taking off.
- determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information amount meets the preset value; the flightable device 120 is controlled to take off and operate.
- control method further includes: after the flightable device 120 takes off and operates, until the operation information quota is less than the preset value, stop the operation and/or return safely.
- determining whether the job information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; in order according to the preset priority Judging whether the operating area quota is greater than or equal to the preset area, and/or whether the operating mileage quota is greater than or equal to the preset mileage, and/or whether the operating time quota is greater than or equal to the preset duration.
- determining whether the job information quota meets a preset value specifically includes the steps of: determining that the job area quota is greater than or equal to the preset area, and determining that the job mileage quota is less than the pre-set Set a mileage and determine that the operating time limit is less than the preset duration, determine that the flightable device 120 meets the restriction of the operation area; when controlling the flightable device 120 to take off and operate until the operation area limit is less than Stop operation and/or return safely when the preset area is reached.
- determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operating time limit is less than the preset duration, it is determined that the flightable device 120 meets the restrictions of the operation area and the operation mileage; after controlling the flightable device 120 to take off and operate, to all When the operation area quota is less than the preset area, and the operation mileage quota is less than the preset mileage, stop the operation and/or return safely.
- control method further includes: when it is determined that the current state of the flightable device 120 is the in-flight state, detecting the flight distance and spray width of the flightable device 120; according to the flight distance Update the working area quota with the spray width.
- control method further includes: when determining that the current state of the flightable device 120 is an in-flight state, detecting the flight trajectory and/or flight rate of the flightable device 120; according to the flight The trajectory and/or the flight rate update the operating mileage limit.
- control method further includes: when determining that the current state of the flightable device 120 is an in-flight state, recording the flight time of the flightable device 120; updating the flight according to the flight time The amount of time.
- any process or method description in the flowchart or otherwise described herein can be understood as representing executable instructions including one or more steps for implementing a specific logical function or process Modules, fragments, or parts of the code, and the scope of the preferred embodiments of the present disclosure includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or inversely according to the functions involved The order to execute the functions should be understood by those skilled in the art to which the embodiments of the present disclosure belong.
- a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
- computer-readable media include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
- the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means as necessary Process to obtain the program electronically and then store it in computer memory.
- a person of ordinary skill in the art can understand that all or part of the steps carried by the method in the above embodiments can be completed by instructing relevant hardware through a program.
- the program can be stored in a computer-readable storage medium, and when the program is executed , Including one of the steps of the method embodiment or a combination thereof.
- each functional unit in each embodiment of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
- the above integrated modules may be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
- the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk.
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Abstract
一种可飞行设备的控制方法,包括:获取可飞行设备的状态,确定可飞行设备处于准备起飞状态,获取可飞行设备的作业信息额度,判断作业信心额度是否满足预设值,若不满足,则禁止可飞行设备起飞,该方法提高了可飞行设备的作业可靠性,提升了可飞行设备的运行收益。一种可飞行设备的控制***,一种计算机可读存储介质,以及一种可飞行设备也被公开。
Description
本公开涉及控制技术领域,尤其涉及一种控制方法、一种控制***、一种计算机可读存储介质和一种可飞行设备。
随着飞行技术的发展,可飞行设备,例如,UAV(Unmanned Aerial Vehicle,无人机,简称无人机),广泛应用于军用领域和越来越多的民用领域,譬如,UAV植物养护培育,UAV航空拍摄,UAV森林火灾监控。
相关技术中,购买可飞行设备的单价昂贵,且其维护成本较高,非常不利于可飞行设备的推广应用,且无法保证可飞行设备执行飞行作业的效果。
发明内容
本公开的实施例旨在提供了一种控制方法、控制***、可飞行设备和计算机可读存储介质,以降低可飞行设备的使用成本,同时,有利于提升可飞行设备执行飞行作业的效果和可靠性。
为了实现上述目的,本公开的第一方面的技术方案,提高了一种控制方法,包括:获取可飞行设备的当前状态,所述状态包括准备起飞状态和飞行中状态;确定所述可飞行设备的当前状态为准备起飞状态;获取所述可飞行设备的当前剩余的作业信息额度,所述作业信息额度根据用户的充值金额确定;判断所述作业信息额度是否满足预设值;若不满足,则禁止所述可飞行设备起飞。
本公开的第二方面的技术方案提供了一种控制***,飞行控制器,用于获取可飞行设备的当前状态,所述状态包括准备起飞状态和飞行中状态;确定可飞行设备的当前状态为准备起飞状态;获取可飞行设备的当前作业信息额度,所述作业信息额度根据用户的充值金额确定;存储器,与所述飞行控制器建立通信,用于存储所述可飞行设备的作业信息额度;动力***,与所述飞行控制器建立通信,用于提供所述可飞行设备的飞行动力;其中,当上述飞行控制器判断当前剩余的作业信息额度不满足预设值,则禁止所述动力***启动,以禁止所述可飞行设备起飞。
本公开的第三方面的技术方案,提供了一种计算机可读存储介质,其 上存储有计算机程序,其中,计算机程序被执行时实现如本公开的实施例第一方面提供的控制方法的步骤。
本公开的第四方面的技术方案,提供了一种可飞行设备,包括:硬件设备,其被配置为实现所述可飞行设备的移动、飞行、图像采集和喷灌;根据上述任一项技术方案限定的控制***,所述控制***被配置为控制所述硬件设备执行接收到的指令。
基于本公开实施例提供的控制方法、控制***、可飞行设备和计算机可读存储介质,通过在确定所述可飞行设备的当前状态为准备起飞状态,获取所述可飞行设备的当前剩余的作业信息额度,为可飞行设备提供了一种充值使用方案,不需要用户购买可飞行设备,即可通过充值的方式租用可飞行设备,同时,也降低了用户对可飞行设备的维护成本,另外,在充值金额不足时,及时提示用户,以尽可能地满足用户的使用需求,使得可飞行设备更及时地完成作业任务。
为了更清楚地说明本公开的实施例中的技术方案,下面将对实施例描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1示出了本公开的一个实施例的可飞行设备***的示意图;
图2示出了本公开的一个实施例的控制方法的示意图;
图3示出了本公开的另一个实施例的控制方法的示意图;
图4示出了本公开的一个实施例的计算机可读存储介质的示意图。
下面将结合本公开的实施例中的附图,对本公开的实施例中的技术方案进行清楚地描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。
需要说明的是,当组件被称为“固定于”另一个组件,它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义,本文所使用的所有的技术和科学术语与属于本公开的技术领域的技术人员通常理解的含义相同。本文中在本公开的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本公开。本文所 使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图,对本公开的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
如图1所示,可飞行设备***10可以包括控制终端110和可飞行设备120。其中,可飞行设备120可以单旋翼或者多旋翼可飞行设备,在某些情况中,可飞行设备120可以为固定翼可飞行设备。
可飞行设备120可以包括传输设备102、控制***104、云台106、电源***108和机身。其中,当可飞行设备120具体为多旋翼可飞行设备时,机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。可飞行设备还可以包括脚架,其中,脚架与机身连接,用于在可飞行设备着陆时起支撑作用。
(1)在飞行控制器1042的控制下,传输设备102可以将动力***1046和/或图像采集设备1064采集的数据发送到控制终端110。控制终端110可以包括传输设备(未示出),控制终端的传输设备可以与可飞行设备120的传输设备102建立无线通信连接,控制终端的传输设备可以接收传输设备102发送的数据,另外,控制终端110还可以通过自身配置的传输设备向可飞行设备120发送控制指令。
控制终端110可以包括控制器1102和显示设备1104。控制器1102可以控制控制终端的各种操作。例如,控制器1102可以控制传输设备接收可飞行设备120通过传输设备102发送的数据,再例如,控制器1102可以控制显示设备1104显示发送的数据,其中,数据可以包括图像采集设备1064捕捉的环境的图像、姿态信息、位置信息和电量信息等等。
(2)控制***104可以包括飞行控制器1042、存储器1044、动力***1046、传感器1048和计时器10410。
其中,控制***104包括一种或者多种类型的传感器1048,其中,所述传感器1048可以输出传输传感数据以测量可飞行设备120的状态数据。其中,传感器1048中最主要的组件为位置传感器,位置传感器包括陀螺仪、定位天线、电子罗盘、惯性测量单元中的至少一种,例如可以包括超声传感器、视觉传感器(单目传感器或者双目传感器)、环境传感器和气压计等传感器中的至少一种。
其中,定位天线能够基于全球定位***(Global Positioning System,GPS)解算可飞行设备120的航向信息。
飞行控制器1042用于控制可飞行设备的各种操作。例如,飞行控制器1042可以控制可飞行设备的移动,再例如,飞行控制器1042可以控制可飞行设备的动力***1046采集数据。
具体地,动力***1046可以包括一个或多个动力部件,动力部件用于为可飞行设备120提供飞行动力,该动力使得可飞行设备120能够实现一个或多个自由度的运动。
(3)在一些实施例中,可飞行设备120还包括云台106,云台106可以包括电机1062,云台106用于携带图像采集设备1064,飞行控制器1042可以通过电机控制云台106的运动。应理解,云台106可以独立于可飞行设备120,也可以为可飞行设备120的一部分。在一些实施例中,图像采集设备1064可以固定连接在可飞行设备120的机身上。
在诸多实施例中,云台106可以包括图像采集设备1064,图像采集设备1064例如可以是照相机或摄像机等用于捕获图像的设备,图像采集设备1064可以与飞行控制器1042通信,并在飞行控制器1042的控制下进行拍摄。
(4)可飞行设备120还包括电源***108,电源***108可以包括电池1082和BMS(Battery Management System,电池管理***)1084,默认采用电池1082对可飞行设备120供电,譬如,对动力***1046、传输设备102、云台106、图像采集设备1064等硬件电子器件进行供电。
可以理解的是,上述任一控制器可以包括一个或多个处理器,其中,一个或多个处理器可以单独地或者协同地工作。
应理解,上述对于可飞行设备120的各组成部分的命名仅是出于标识的目的,并不应理解为对本公开的实施例的限制。
结合图1、图2和图3所示,上述可飞行设备的控制方法,具体包括以下实施方式。
如图2所示,根据本公开实施例提供的控制方法,具体包括:
步骤S202,获取可飞行设备的当前状态,所述状态包括准备起飞状态和飞行中状态。
步骤S204,确定所述可飞行设备的当前状态为准备起飞状态。
具体地,通过获取可飞行设备的当前状态,针对准备起飞状态和飞行中状态分别进行飞行控制,尤其是在准备起飞状态下,能够预判作业信息额度是否满足预设值,一方面,能够满足用户的使用需求,另一方面,能够保证可飞行设备更加可靠地执行飞行作业。
步骤S206,获取所述可飞行设备的当前剩余的作业信息额度,所述作业信息额度根据用户的充值金额确定。
具体地,通过获取所述可飞行设备的当前剩余的作业信息额度,由于充值金额与作业信息额度之间的对应关系,因此,可以间接确定充值金额是否能够满足飞行作业的需求,并且及时提示用户进行充值,以使充值金 额能够保证可飞行设备完成飞行作业。
其中,充值金额的限制为可飞行设备提供了一种租用的使用方法,不需要用户花费高昂的单价购买可飞行设备,且降低了对无可飞行设备的维护成本。
步骤S208,判断所述作业信息额度是否满足预设值。
步骤S210,若不满足,则禁止所述可飞行设备起飞。
步骤S212,若满足,则允许所述可飞行设备起飞。
具体地,通过判断作业信息额度是否满足预设值,并且在判定不满足时,则禁止所述可飞行设备起飞,同时,及时提示用户,以保证充值金额能够满足飞行作业的需求,进而保证可飞行设备执行飞行作业的效果。
特别地,在准备起飞状态下,若检测到可飞行设备的作业信息额度不满足预设值,则在下一次更新充值金额前,可以根据可飞行设备的剩余电量确定是否检测不满足预设值的作业信息额度,以降低可飞行设备的功耗。
在一些实施例中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备的动力***的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***包括电机组件和/或螺旋桨组件。
具体地,获取所述可飞行设备的动力***的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***包括电机组件和/或螺旋桨组件,其中,动力***被配置为支持可飞行设备完成飞行、移动、喷灌等动作操作,其中,电机组件包括电机、电机驱动电路和硬件连接,螺旋桨组件主要被配置为支持可飞行设备的飞行和转向,也即在螺旋桨组件和电机组件同时工作时,可飞行设备通常是处于飞行中状态。
在一些实施例中,所述运行参数包括以下至少一种:负载电流、负载电压、运行频率、转速和转子角度。
在一些实施例中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备接收到的控制指令,所述控制指令根据用户的触控操作转换生成,其中,所述控制指令用于调整或设定所述可飞行设备的运行参数。
具体地,用户的触控操作可以经控制终端直接转换为控制指令,并发送至可飞行设备,或控制终端将触控操作经通信节点设备转发至可飞行设备,其中,通信节点设备包括路由器、服务器和基站等,但不限于此。
在一些实施例中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备的传感数据,所述传感数据包括采集的环境图像数据、环境参数数据和飞行姿态数据。
具体地,通过获取可飞行设备的传感数据,其中,环境图像数据可以是图像数据或录像数据,能够直观地向用户显示可飞行设备所处的环境,环境参数数据主要包括传感器检测的数据,例如,温度传感器检测的温度信息、湿度传感器检测的湿度信息、气压计检测的气压信息、亮度传感器检测的亮度信息和天线接收的定位信息等,但不限于此,飞行姿态信息包括陀螺仪检测的姿态信息、加速度计检测的速度信息等,但不限于此。
在一些实施例中,所述环境图像数据包括以下至少一种:静态图片数据、动态图片数据和摄像数据。
具体地,首先,静态图片数据的分辨率是可调整的,另外,可以根据可飞行设备当前的通信质量或用户请求来确定发送静态图片的时刻和间隔,可飞行设备对静态图片数据的运算量小,其次,动态图片数据能够反映连续的环境变化信息,最后,摄像数据能够更准确地记录环境变化信息,并且反馈给控制终端,以供用户通过控制终端解析环境数据。
在一些实施例中,所述环境参数数据包括以下至少一种:温度数据、湿度数据、气压数据、风速数据和方位数据。
在一些实施例中,所述飞行姿态数据包括以下至少一种:加速度计数据和陀螺仪数据。
在一些实施例中,所述作业信息额度包括以下至少一种:作业面积额度、作业里程额度和作业时长额度。
在一些实施例中,所述控制方法还包括:记录可飞行设备的飞行距离;执行喷洒作业,并记录可飞行设备喷洒作业的喷幅宽度和喷洒距离;记录可飞行设备的作业时间。
具体地,通过记录可飞行设备的飞行距离,并在执行喷洒作业,并记录可飞行设备喷洒作业的喷幅宽度和喷洒距离,以及记录可飞行设备的作业时间,能够在可飞行设备处于飞行中状态时,实时监控可飞行设备执行喷灌作业的进度,并且能够用于及时判断充值金额是否能够完成剩余的喷灌作业,尤其是在充值金额不足时,并不终止可飞行设备继续执行喷灌作业,而是及时提示用户进行充值操作,以提高可飞行设备完成喷灌作业的可靠性和完整性,提升了可飞行设备执行喷灌作业的效率。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;判断所述作业面积额度是否大于或等于所述预设面积,和/或判断所述作业里程额度是否大于或等于所述预设里程,和/或判断所述作业时长额度是否大于或等于所述预设时长。
具体地,对于喷灌作业而言,喷灌面积、喷灌里程和喷灌时长是检测 可飞行设备是否完成喷灌作业的三个最主要指标,可以预设优先级对上述三个指标进行解析判断,或同时解析判断上述三个指标,或根据充值金额选择三个指标中的至少一个指标进行解析判断。
其中,在执行喷灌业务时,预设优先级的顺序由高到低依次为预设面积、预设里程和预设时长。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度小于所述预设面积,或判定所述作业里程额度小于所述预设里程,或判定所述作业时长额度小于所述预设时长时,确定所述作业信息额度不满足所述预设值;禁止所述可飞行设备起飞。
具体地,在判定作业面积额度、作业里程额度和作业时长额度中的任一个不满足预设值时,禁止可飞行设备起飞,能够保证可飞行设备起飞后,能够最大概率地执行完成喷灌作业,进而有利于提升用户的使用体验。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度大于或等于所述预设时长时,确定所述作业信息额度满足所述预设值;控制所述可飞行设备起飞并作业。
具体地,在判定作业面积额度、作业里程额度和作业时长额度均满足预设值时,确定控制可飞行设备起飞且执行作业,以最大程度地提升可飞行设备完成喷灌作业的效果和可靠性。
在一些实施例中,所述控制方法还包括:在可飞行设备起飞并作业后,至所述作业信息额度小于所述预设值时,停止作业和/或安全返航。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时长额度是否大于或等于所述预设时长。
具体地,通过按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时长额度是否大于或等于所述预设时长,一方面,降低了限制可飞行设备起飞并作业的条件,另一方面,在用户无法进行充值时,能够尽可能地满足用户的部分使用需求,进而提升了用户的使用体验。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度小于所述预设里程,且判定所述作业时长额度小于所述预 设时长时,确定所述可飞行设备满足作业面积的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积时停止作业和/或安全返航。
具体地,通常对于喷灌业务来说,作业信息额度中预设优先级最高的为作业面积额度,其次为作业里程额度,再次为作业时长额度,在判定作业面积额度满足预设值时,但是,作业时长额度和作业里程额度均不满足预设值时,仍然以作业面积额度为上限控制可飞行设备的作业面积,不仅能够在充值金额不足时,如果在准备起飞状态下判定了仅作业面积额度满足预设值,则可飞行设备处于飞行中状态时,不需要检测作业里程额度和作业时间额度,有效地降低了可飞行设备的功耗,同时,提升了用户的使用体验。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备满足作业面积和作业里程的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
具体地,在判定作业面积额度和作业里程额度均满足预设值时,但是,作业时长额度不满足预设值时,仍然以作业面积额度为上限控制可飞行设备的作业面积,如果在准备起飞状态下判定了作业面积额度和作业里程额度满足预设值,则可飞行设备处于飞行中状态时,不需要检测作业时间额度,有效地降低了可飞行设备的功耗,同时,提升了用户的使用体验。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行距离和喷幅宽度;根据所述飞行距离和所述喷幅宽度更新所述作业面积额度。
具体地,在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行距离和喷幅宽度,并且根据所述飞行距离和所述喷幅宽度更新所述作业面积额度,更加准确地计算获得作业面积额度,提高了对可飞行设备完成喷灌作业进行监控的可靠性和准确性。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行轨迹和/或飞行速率;根据所述飞行轨迹和/或所述飞行速率更新所述作业里程额度。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,记录所述可飞行设备的飞行时间;根据所述飞行时间更新所述飞行时长额度。
如图3所示,在另一些实施例中,与上述控制方法包括以下具体步骤:步骤S302,提示用户充值,并按照预设周期更新本地存储的充值金额;步骤S304,获取可飞行设备的当前状态,状态包括准备起飞状态和飞行中状态;步骤S306,确定可飞行设备的当前状态为准备起飞状态;步骤S308,获取可飞行设备的当前剩余的作业信息额度,作业信息额度根据用户的充值金额确定;步骤S310,判断作业信息额度是否满足预设值,若是,则执行步骤S312,若否,则执行步骤S314;步骤S312,允许可飞行设备起飞;步骤S314,禁止可飞行设备起飞。
如图4所示,与上述控制方法相对于的控制***104,具体包括的硬件装置和实现方案如下:
飞行控制器1042,用于获取可飞行设备120的当前状态,所述状态包括准备起飞状态和飞行中状态;确定可飞行设备120的当前状态为准备起飞状态;获取可飞行设备120的当前作业信息额度,所述作业信息额度根据用户的充值金额确定。
存储器1044,与所述飞行控制器1042建立通信,用于存储所述可飞行设备120的作业信息额度。
动力***1046,与所述飞行控制器1042建立通信,用于提供所述可飞行设备120的飞行动力。当上述飞行控制器1042判断当前剩余的作业信息额度不满足预设值,则禁止所述动力***1046启动,以禁止所述可飞行设备120起飞。
具体地,通过获取可飞行设备120的当前状态,针对准备起飞状态和飞行中状态分别进行飞行控制,尤其是在准备起飞状态下,能够预判作业信息额度是否满足预设值,一方面,能够满足用户的使用需求,另一方面,能够保证可飞行设备120更加可靠地执行飞行作业。
具体地,通过获取所述可飞行设备120的当前剩余的作业信息额度,由于充值金额与作业信息额度之间的对应关系,因此,可以间接确定充值金额是否能够满足飞行作业的需求,并且及时提示用户进行充值,以使充值金额能够保证可飞行设备120完成飞行作业。
其中,充值金额的限制为可飞行设备120提供了一种租用的使用方法,不需要用户花费高昂的单价购买可飞行设备120,且降低了对无可飞行设备120的维护成本。
具体地,通过判断作业信息额度是否满足预设值,并且在判定不满足时,则禁止所述可飞行设备120起飞,同时,及时提示用户,以保证充值金额能够满足飞行作业的需求,进而保证可飞行设备120执行飞行作业的效果。
特别地,在准备起飞状态下,若检测到可飞行设备120的作业信息额度不满足预设值,则在下一次更新充值金额前,可以根据可飞行设备120的剩余电量确定是否检测不满足预设值的作业信息额度,以降低可飞行设备120的功耗。
在一些实施例中,所述飞行控制器1042,还用于:获取所述可飞行设备120的动力***1046的运行参数,所述运行参数对应于所述起飞状态或所述飞行中状态,所述动力***1046包括电机组件和/或螺旋桨组件。
具体地,获取所述可飞行设备120的动力***1046的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***1046包括电机组件和/或螺旋桨组件,其中,动力***1046被配置为支持可飞行设备120完成飞行、移动、喷灌等动作操作,其中,电机组件包括电机、电机驱动电路和硬件连接,螺旋桨组件主要被配置为支持可飞行设备120的飞行和转向,也即在螺旋桨组件和电机组件同时工作时,可飞行设备120通常是处于飞行中状态。
在一些实施例中,所述运行参数包括以下至少一种:负载电流、负载电压、运行频率、转速和转子角度。
在一些实施例中,所述飞行控制器1042,还用于:获取所述可飞行设备120接收到的控制指令,所述控制指令根据用户的触控操作转换生成,其中,所述控制指令用于调整或设定所述可飞行设备120的运行参数。
具体地,用户的触控操作可以经控制终端直接转换为控制指令,并发送至可飞行设备120,或控制终端将触控操作经通信节点设备转发至可飞行设备120,其中,通信节点设备包括路由器、服务器和基站等,但不限于此。
在一些实施例中,所述飞行控制器1042,还用于:获取所述可飞行设备120的传感数据,所述传感数据包括采集的环境图像数据、环境参数数据和飞行姿态数据。
具体地,通过获取可飞行设备120的传感数据,其中,环境图像数据可以是图像数据或录像数据,能够直观地向用户显示可飞行设备120所处的环境,环境参数数据主要包括传感器检测的数据,例如,温度传感器检测的温度信息、湿度传感器检测的湿度信息、气压计检测的气压信息、亮度传感器检测的亮度信息和天线接收的定位信息等,但不限于此,飞行姿态信息包括陀螺仪检测的姿态信息、加速度计检测的速度信息等,但不限于此。
在一些实施例中,所述环境图像数据包括以下至少一种:静态图片数据、动态图片数据和摄像数据。
具体地,首先,静态图片数据的分辨率是可调整的,另外,可以根据可飞行设备120当前的通信质量或用户请求来确定发送静态图片的时刻和间隔,可飞行设备120对静态图片数据的运算量小,其次,动态图片数据能够反映连续的环境变化信息,最后,摄像数据能够更准确地记录环境变化信息,并且反馈给控制终端,以供用户通过控制终端解析环境数据。
在一些实施例中,所述环境参数数据包括以下至少一种:温度数据、湿度数据、气压数据、风速数据和方位数据。
在一些实施例中,所述飞行姿态数据包括以下至少一种:加速度计数据和陀螺仪数据。
在一些实施例中,所述作业信息额度包括以下至少一种:作业面积额度、作业里程额度和作业时长额度。
在一些实施例中,控制***还包括:位置传感器1048,用于记录可飞行设备120的飞行距离;喷洒***,用于执行喷洒作业,并记录可飞行设备120喷洒作业的喷幅宽度和喷洒距离;计时器10410,用于记录可飞行设备120的作业时间;其中位置传感器1048、喷洒***、计时器10410均与所述飞行控制器1042建立通信。
具体地,通过记录可飞行设备120的飞行距离,并在执行喷洒作业,并记录可飞行设备120喷洒作业的喷幅宽度和喷洒距离,以及记录可飞行设备120的作业时间,能够在可飞行设备120处于飞行中状态时,实时监控可飞行设备120执行喷灌作业的进度,并且能够用于及时判断充值金额是否能够完成剩余的喷灌作业,尤其是在充值金额不足时,并不终止可飞行设备120继续执行喷灌作业,而是及时提示用户进行充值操作,以提高可飞行设备120完成喷灌作业的可靠性和完整性,提升了可飞行设备120执行喷灌作业的效率。
在一些实施例中,所述飞行控制器1042,还用于:解析所述预设值中包含的预设面积、预设里程和预设时长;判断所述作业面积额度是否大于或等于所述预设面积,和/或判断所述作业里程额度是否大于或等于所述预设里程,和/或判断所述作业时长额度是否大于或等于所述预设时长。
具体地,对于喷灌作业而言,喷灌面积、喷灌里程和喷灌时长是检测可飞行设备120是否完成喷灌作业的三个最主要指标,可以预设优先级对上述三个指标进行解析判断,或同时解析判断上述三个指标,或根据充值金额选择三个指标中的至少一个指标进行解析判断。
其中,在执行喷灌业务时,预设优先级的顺序由高到低依次为预设面积、预设里程和预设时长。
在一些实施例中,所述飞行控制器1042,还用于:在判定所述作业 面积额度小于所述预设面积,或判定所述作业里程额度小于所述预设里程,或判定所述作业时长额度小于所述预设时长时,确定所述作业信息额度不满足所述预设值;禁止所述可飞行设备120起飞。
具体地,在判定作业面积额度、作业里程额度和作业时长额度中的任一个不满足预设值时,禁止可飞行设备120起飞,能够保证可飞行设备120起飞后,能够最大概率地执行完成喷灌作业,进而有利于提升用户的使用体验。
在一些实施例中,所述飞行控制器1042,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度大于或等于所述预设时长时,确定所述作业信息额度满足所述预设值;控制所述可飞行设备120起飞并作业。
具体地,在判定作业面积额度、作业里程额度和作业时长额度均满足预设值时,确定控制可飞行设备120起飞且执行作业,以最大程度地提升可飞行设备120完成喷灌作业的效果和可靠性。
在一些实施例中,所述飞行控制器1042,还用于:在可飞行设备120起飞并作业后,至所述作业信息额度小于所述预设值时,停止作业和/或安全返航。
在一些实施例中,所述飞行控制器1042,还用于:解析所述预设值中包含的预设面积、预设里程和预设时长;按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时长额度是否大于或等于所述预设时长。
具体地,通过按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时长额度是否大于或等于所述预设时长,一方面,降低了限制可飞行设备120起飞并作业的条件,另一方面,在用户无法进行充值时,能够尽可能地满足用户的部分使用需求,进而提升了用户的使用体验。
在一些实施例中,所述飞行控制器1042,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度小于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备120满足作业面积的限制;在控制所述可飞行设备120起飞并作业,至所述作业面积额度小于所述预设面积时停止作业和/或安全返航。
具体地,通常对于喷灌业务来说,作业信息额度中预设优先级最高的 为作业面积额度,其次为作业里程额度,再次为作业时长额度,在判定作业面积额度满足预设值时,但是,作业时长额度和作业里程额度均不满足预设值时,仍然以作业面积额度为上限控制可飞行设备120的作业面积,不仅能够在充值金额不足时,如果在准备起飞状态下判定了仅作业面积额度满足预设值,则可飞行设备120处于飞行中状态时,不需要检测作业里程额度和作业时间额度,有效地降低了可飞行设备120的功耗,同时,提升了用户的使用体验。
在一些实施例中,所述飞行控制器1042,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备120满足作业面积和作业里程的限制;在控制所述可飞行设备120起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
具体地,在判定作业面积额度和作业里程额度均满足预设值时,但是,作业时长额度不满足预设值时,仍然以作业面积额度为上限控制可飞行设备120的作业面积,如果在准备起飞状态下判定了作业面积额度和作业里程额度满足预设值,则可飞行设备120处于飞行中状态时,不需要检测作业时间额度,有效地降低了可飞行设备120的功耗,同时,提升了用户的使用体验。
在一些实施例中,所述喷洒***,还用于:在确定所述可飞行设备120的当前状态为飞行中状态时,检测所述可飞行设备120的喷洒距离和喷幅宽度;所述飞行控制器1042,还用于:根据所述喷洒距离和所述喷幅宽度更新所述作业面积额度。
具体地,在确定所述可飞行设备120的当前状态为飞行中状态时,检测所述可飞行设备120的飞行距离和喷幅宽度,并且根据所述飞行距离和所述喷幅宽度更新所述作业面积额度,更加准确地计算获得作业面积额度,提高了对可飞行设备120完成喷灌作业进行监控的可靠性和准确性。
在一些实施例中,所述位置传感器1048,还用于:在确定所述可飞行设备120的当前状态为飞行中状态时,检测所述可飞行设备120的飞行轨迹和/或飞行速率;所述飞行控制器1042,还用于:根据所述飞行轨迹和/或所述飞行速率更新所述作业里程额度。
在一些实施例中,所述计时器10410,还用于:在确定所述可飞行设备120的当前状态为飞行中状态时,记录所述可飞行设备120的飞行时间;所述飞行控制器1042,还用于:根据所述飞行时间更新所述飞行时长额度。
结合图1和图4所示,本公开的实施例提供了一种计算机可读存储介质400,控制***104上设有飞行控制器1042和存储器1044,计算机可读存储介质400,其上存储有计算机程序402,计算机程序402被飞行控制器1042执行时实现如上任一实施例限定的控制方法的步骤。
上述飞行控制器1042可以是中央处理单元(Central Processing Unit,CPU),该飞行控制器1042还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
其中,存储器1044用于存储程序代码和记录状态数据。
在一些实施例中,飞行控制器1042用于调用计算机程序402的代码以执行对飞行作业,具体执行以下步骤:
获取可飞行设备120的当前状态,所述状态包括准备起飞状态和飞行中状态。
确定所述可飞行设备120的当前状态为准备起飞状态。
具体地,通过获取可飞行设备120的当前状态,针对准备起飞状态和飞行中状态分别进行飞行控制,尤其是在准备起飞状态下,能够预判作业信息额度是否满足预设值,一方面,能够满足用户的使用需求,另一方面,能够保证可飞行设备120更加可靠地执行飞行作业。
获取所述可飞行设备120的当前剩余的作业信息额度,所述作业信息额度根据用户的充值金额确定。
判断所述作业信息额度是否满足预设值。
若不满足,则禁止所述可飞行设备120起飞。
在一些实施例中,获取可飞行设备120的当前状态,具体包括以下步骤:获取所述可飞行设备120的动力***1046的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***1046包括电机组件和/或螺旋桨组件。
在一些实施例中,所述运行参数包括以下至少一种:负载电流、负载电压、运行频率、转速和转子角度。
在一些实施例中,获取可飞行设备120的当前状态,具体包括以下步骤:获取所述可飞行设备120接收到的控制指令,所述控制指令根据用户的触控操作转换生成,其中,所述控制指令用于调整或设定所述可飞行设备120的运行参数。
在一些实施例中,获取可飞行设备120的当前状态,具体包括以下步骤:获取所述可飞行设备120的传感数据,所述传感数据包括采集的环境图像数据、环境参数数据和飞行姿态数据。
在一些实施例中,所述环境图像数据包括以下至少一种:静态图片数据、动态图片数据和摄像数据。
在一些实施例中,所述环境参数数据包括以下至少一种:温度数据、湿度数据、气压数据、风速数据和方位数据。
在一些实施例中,所述飞行姿态数据包括以下至少一种:加速度计数据和陀螺仪数据。
在一些实施例中,所述作业信息额度包括以下至少一种:作业面积额度、作业里程额度和作业时长额度。
在一些实施例中,所述控制方法还包括:记录可飞行设备120的飞行距离;执行喷洒作业,并记录可飞行设备120喷洒作业的喷幅宽度和喷洒距离;记录可飞行设备120的作业时间。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;判断所述作业面积额度是否大于或等于所述预设面积,和/或判断所述作业里程额度是否大于或等于所述预设里程,和/或判断所述作业时长额度是否大于或等于所述预设时长。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度小于所述预设面积,或判定所述作业里程额度小于所述预设里程,或判定所述作业时长额度小于所述预设时长时,确定所述作业信息额度不满足所述预设值;禁止所述可飞行设备120起飞。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度大于或等于所述预设时长时,确定所述作业信息额度满足所述预设值;控制所述可飞行设备120起飞并作业。
在一些实施例中,所述控制方法还包括:在可飞行设备120起飞并作业后,至所述作业信息额度小于所述预设值时,停止作业和/或安全返航。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时 长额度是否大于或等于所述预设时长。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度小于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备120满足作业面积的限制;在控制所述可飞行设备120起飞并作业,至所述作业面积额度小于所述预设面积时停止作业和/或安全返航。
在一些实施例中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备120满足作业面积和作业里程的限制;在控制所述可飞行设备120起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备120的当前状态为飞行中状态时,检测所述可飞行设备120的飞行距离和喷幅宽度;根据所述飞行距离和所述喷幅宽度更新所述作业面积额度。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备120的当前状态为飞行中状态时,检测所述可飞行设备120的飞行轨迹和/或飞行速率;根据所述飞行轨迹和/或所述飞行速率更新所述作业里程额度。
在一些实施例中,所述控制方法还包括:在确定所述可飞行设备120的当前状态为飞行中状态时,记录所述可飞行设备120的飞行时间;根据所述飞行时间更新所述飞行时长额度。
进一步地,可以理解的是,流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本公开的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本公开的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤,例如,可以被认为是用于实现逻辑功能的可执行指令的定序列表,可以具体实现在任何计算机可读介质中,以供指令执行***、装置或设备(如基于计算机的***、包括处理器的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用,或结合这些指令执行***、装置或设备而使用。就本说明书而言,“计算机可读介质”可以是任何可以包含、存储、通 信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下:具有一个或多个布线的电连接部(电子装置),便携式计算机盘盒(磁装置),随机存取存储器(RAM),只读存储器(ROM),可擦除可编辑只读存储器(EPROM或闪速存储器),光纤装置,以及便携式光盘只读存储器(CDROM)。另外,计算机可读介质甚至可以是可在其上打印程序的纸或其他合适的介质,因为可以例如通过对纸或其他介质进行光学扫描,接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得程序,然后将其存储在计算机存储器中。
应当理解,本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中,多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。例如,如果用硬件来实现,和在另一实施方式中一样,可用本领域公知的下列技术中的任一项或他们的组合来实现:具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路,具有合适的组合逻辑门电路的专用集成电路,可编程门阵列(PGA),现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成,的程序可以存储于一种计算机可读存储介质中,该程序在执行时,包括方法实施例的步骤之一或其组合。
此外,在本公开各个实施例中的各功能单元可以集成在一个处理模块中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器,磁盘或光盘等。
以上仅为本公开的优选实施例而已,并不用于限制本公开,对于本领域的技术人员来说,本公开可以有各种更改和变化。凡在本公开的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本公开的保护范围之内。
Claims (42)
- 一种可飞行设备的控制方法,其中,包括:获取可飞行设备的当前状态,所述状态包括准备起飞状态和飞行中状态;确定所述可飞行设备的当前状态为准备起飞状态;获取所述可飞行设备的当前剩余的作业信息额度,所述作业信息额度根据用户的充值金额确定;判断所述作业信息额度是否满足预设值;若不满足,则禁止所述可飞行设备起飞。
- 根据权利要求1所述的可飞行设备的控制方法,其中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备的动力***的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***包括电机组件和/或螺旋桨组件。
- 根据权利要求2所述的可飞行设备的控制方法,其中,所述运行参数包括以下至少一种:负载电流、负载电压、运行频率、转速和转子角度。
- 根据权利要求1所述的可飞行设备的控制方法,其中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备接收到的控制指令,所述控制指令根据用户的触控操作转换生成,其中,所述控制指令用于调整或设定所述可飞行设备的运行参数。
- 根据权利要求1所述的可飞行设备的控制方法,其中,获取可飞行设备的当前状态,具体包括以下步骤:获取所述可飞行设备的传感数据,所述传感数据包括采集的环境图像数据、环境参数数据和飞行姿态数据。
- 根据权利要求5所述的可飞行设备的控制方法,其中,所述环境图像数据包括以下至少一种:静态图片数据、动态图片数据和摄像数据。
- 根据权利要求5所述的可飞行设备的控制方法,其中,所述环境参数数据包括以下至少一种:温度数据、湿度数据、气压数据、风速数据和方位数据。
- 根据权利要求5所述的可飞行设备的控制方法,其中,所述飞行姿态数据包括以下至少一种:加速度计数据和陀螺仪数据。
- 根据权利要求1至8中任一项所述的可飞行设备的控制方法,其中,所述作业信息额度包括以下至少一种:作业面积额度、作业里程额度和作业时长额度。
- 根据权利要求9所述的可飞行设备的控制方法,其中,所述控制方法还包括:记录可飞行设备的飞行距离;执行喷洒作业,并记录可飞行设备喷洒作业的喷幅宽度和喷洒距离;记录可飞行设备的作业时间。
- 根据权利要求10所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;判断所述作业面积额度是否大于或等于所述预设面积,和/或判断所述作业里程额度是否大于或等于所述预设里程,和/或判断所述作业时长额度是否大于或等于所述预设时长。
- 根据权利要求11所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度小于所述预设面积,或判定所述作业里程额度小于所述预设里程,或判定所述作业时长额度小于所述预设时长时,确定所述作业信息额度不满足所述预设值;禁止所述可飞行设备起飞。
- 根据权利要求11所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度大于或等于所述预设时长时,确定所述作业信息额度满足所述预设值;控制所述可飞行设备起飞并作业。
- 根据权利要求12所述的可飞行设备的控制方法,其中,所述控制方法还包括:在所述可飞行设备起飞并作业后,至所述作业信息额度小于所述预设值时,停止作业和/或安全返航。
- 根据权利要求9所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:解析所述预设值中包含的预设面积、预设里程和预设时长;按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述作业时长额度是否大于或等于所述预设时长。
- 根据权利要求14所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度小于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备满足作业面积的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积时停止作业和/或安全返航。
- 根据权利要求14所述的可飞行设备的控制方法,其中,判断所述作业信息额度是否满足预设值,具体包括以下步骤:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备满足作业面积和作业里程的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
- 根据权利要求14所述的可飞行设备的控制方法,其中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行距离和喷幅宽度;根据所述飞行距离和所述喷幅宽度更新所述作业面积额度。
- 根据权利要求14所述的可飞行设备的控制方法,其中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行轨迹和/或飞行速率;根据所述飞行轨迹和/或所述飞行速率更新所述作业里程额度。
- 根据权利要求14所述的可飞行设备的控制方法,其中,所述控制方法还包括:在确定所述可飞行设备的当前状态为飞行中状态时,记录所述可飞行设备的飞行时间;根据所述飞行时间更新所述飞行时长额度。
- 一种控制***,其中,包括:飞行控制器,用于获取可飞行设备的当前状态,所述状态包括准备起 飞状态和飞行中状态;确定可飞行设备的当前状态为准备起飞状态;获取可飞行设备的当前作业信息额度,所述作业信息额度根据用户的充值金额确定;存储器,与所述飞行控制器建立通信,用于存储所述可飞行设备的作业信息额度;动力***,与所述飞行控制器建立通信,用于提供所述可飞行设备的飞行动力;其中,当上述飞行控制器判断当前剩余的作业信息额度不满足预设值,则禁止所述动力***启动,以禁止所述可飞行设备起飞。
- 根据权利要求21所述的控制***,其中,所述飞行控制器,还用于:获取所述可飞行设备的动力***的运行参数,所述运行参数对应于所述准备起飞状态或所述飞行中状态,所述动力***包括电机组件和/或螺旋桨组件。
- 根据权利要求22所述的控制***,其中,所述运行参数包括以下至少一种:负载电流、负载电压、运行频率、转速和转子角度。
- 根据权利要求21所述的控制***,其中,所述飞行控制器,还用于:获取所述可飞行设备接收到的控制指令,所述控制指令根据用户的触控操作转换生成,其中,所述控制指令用于调整或设定所述可飞行设备的运行参数。
- 根据权利要求21所述的控制***,其中,所述飞行控制器,还用于:获取所述可飞行设备的传感数据,所述传感数据包括采集的环境图像数据、环境参数数据和飞行姿态数据。
- 根据权利要求24所述的控制***,其中,所述环境图像数据包括以下至少一种:静态图片数据、动态图片数据和摄像数据。
- 根据权利要求25所述的控制***,其中,所述环境参数数据包括以下至少一种:温度数据、湿度数据、气压数据、风速数据和方位数据。
- 根据权利要求25所述的控制***,其中,所述飞行姿态数据包括以下至少一种:加速度计数据和陀螺仪数据。
- 根据权利要求21至28中任一项所述的控制***,其中,所述作业信息额度包括以下至少一种:作业面积额度、作业里程额度和作业时长额度。
- 根据权利要求29所述的控制***,其中,控制***还包括:位置传感器,用于记录可飞行设备的飞行距离;喷洒***,用于执行喷洒作业,并记录可飞行设备喷洒作业的喷幅宽度和喷洒距离;计时器,用于记录可飞行设备的作业时间;其中位置传感器、喷洒***、计时器均与所述飞行控制器建立通信。
- 根据权利要求30所述的控制***,其中,所述飞行控制器,还用于:解析所述预设值中包含的预设面积、预设里程和预设时长;判断所述作业面积额度是否大于或等于所述预设面积,和/或判断所述作业里程额度是否大于或等于所述预设里程,和/或判断所述作业时长额度是否大于或等于所述预设时长。
- 根据权利要求31所述的控制***,其中,所述飞行控制器,还用于:在判定所述作业面积额度小于所述预设面积,或判定所述作业里程额度小于所述预设里程,或判定所述作业时长额度小于所述预设时长时,确定所述作业信息额度不满足所述预设值;禁止所述可飞行设备起飞。
- 根据权利要求31所述的控制***,其中,所述飞行控制器,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度大于或等于所述预设时长时,确定所述作业信息额度满足所述预设值;控制所述可飞行设备起飞并作业。
- 根据权利要求32所述的控制***,其中,所述飞行控制器,还用于:在可飞行设备起飞并作业后,至所述作业信息额度小于所述预设值时,停止作业和/或安全返航。
- 根据权利要求29所述的控制***,其中,所述飞行控制器,还用于:解析所述预设值中包含的预设面积、预设里程和预设时长;按照预设优先级依次判断所述作业面积额度是否大于或等于所述预设面积,和/或所述作业里程额度是否大于或等于所述预设里程,和/或所述 作业时长额度是否大于或等于所述预设时长。
- 根据权利要求34所述的控制***,其中,所述飞行控制器,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备满足作业面积和作业里程的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
- 根据权利要求34所述的控制***,其中,所述飞行控制器,还用于:在判定所述作业面积额度大于或等于所述预设面积,且判定所述作业里程额度大于或等于所述预设里程,且判定所述作业时长额度小于所述预设时长时,确定所述可飞行设备满足作业面积和作业里程的限制;在控制所述可飞行设备起飞并作业,至所述作业面积额度小于所述预设面积,且所述作业里程额度小于所述预设里程时停止作业和/或安全返航。
- 根据权利要求34所述的控制***,其中,所述喷洒***,还用于:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的喷洒距离和喷幅宽度;所述飞行控制器,还用于:根据所述喷洒距离和所述喷幅宽度更新所述作业面积额度。
- 根据权利要求34所述的控制***,其中,所述位置传感器,还用于:在确定所述可飞行设备的当前状态为飞行中状态时,检测所述可飞行设备的飞行轨迹和/或飞行速率;所述飞行控制器,还用于:根据所述飞行轨迹和/或所述飞行速率更新所述作业里程额度。
- 根据权利要求34所述的控制***,其中,所述计时器,还用于:在确定所述可飞行设备的当前状态为飞行中状态时,记录所述可飞行设备的飞行时间;所述飞行控制器,还用于:根据所述飞行时间更新所述飞行时长额度。
- 一种计算机可读存储介质,其上存储有计算机程序,其中,所述计算机程序被执行时,实现如权利要求1至20中任一项所述的控制方法的步骤。
- 一种可飞行设备,其中,包括:硬件设备,其被配置为实现所述可飞行设备的移动、飞行、图像采集和喷灌;根据权利要求21至40中任一项所述的控制***,所述控制***被配置为控制所述硬件设备执行接收到的指令。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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PCT/CN2018/120196 WO2020118500A1 (zh) | 2018-12-11 | 2018-12-11 | 控制方法、控制***、计算机可读存储介质和可飞行设备 |
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