Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium

Abstract

The embodiment of the present application provides a kind of control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium, the method comprises: obtaining the control information that user inputs on user interface;According to control information, determine the operation parameter of agricultural unmanned aerial vehicle (42);According to operation parameter, control agricultural unmanned aerial vehicle (42) to carry out operation.The embodiment of the present application provides the user interface of ground control terminal (130), and the control icon of the operation parameter that agricultural unmanned aerial vehicle (42) can be adjusted is arranged on the user interface, user can intuitively operate control icon on the user interface, and ground control terminal (130) determines the control information that user inputs according to the operation of user interface, and the control information is specifically used to adjust the operation parameter of agricultural unmanned aerial vehicle (42), which realizes that user intuitively adjusts the operation parameter of agricultural unmanned aerial vehicle (42) by ground control terminal (130).

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of unmanned aerial vehicles, and in particular to a control method of an agricultural unmanned aerial vehicle, a ground control terminal and a storage medium. BACKGROUND

[0002] In the prior art, a user can control an unmanned aerial vehicle by operating a ground control terminal, for example, to control the flight mode, flight speed, flight height, etc. of the unmanned aerial vehicle.

[0003] For an agricultural unmanned aerial vehicle, it is required to complete the protection work of forest plants, and therefore higher requirements are imposed on the agricultural unmanned aerial vehicle, for example, to control the spraying flow of pesticide, to control the height of the agricultural unmanned aerial vehicle from crops, to control the direction of the spraying of pesticide by a spraying head, to prevent heavy spraying, leakage spraying and mis-spraying of pesticide, to determine the flight route of the agricultural unmanned aerial vehicle and the interval between routes, etc. However, the user cannot intuitively adjust the operation parameters of the unmanned aerial vehicle by using the existing ground control terminal. SUMMARY

[0004] Embodiments of the present application provide a control method of an agricultural unmanned aerial vehicle, a ground control terminal and a storage medium, to enable a user to intuitively adjust the operation parameters of the unmanned aerial vehicle.

[0005] One aspect of embodiments of the present application is to provide a control method of an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle being controlled by a ground control terminal, the ground control terminal being provided with a user interface, the method comprising:

[0006] obtaining control information input by a user on the user interface;

[0007] determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;

[0008] controlling the agricultural unmanned aerial vehicle to perform operation according to the operation parameters.

[0009] Another aspect of embodiments of the present application is to provide a ground control terminal, comprising:

[0010] a processor;

[0011] a memory configured to store processor-executable instructions;

[0012] wherein the processor is configured to:

[0013] display a user interface;

[0014] obtain control information input by a user on the user interface;

[0015] determine operation parameters of the agricultural unmanned aerial vehicle according to the control information;

[0016] According to the operation parameter, the agricultural unmanned aerial vehicle is controlled to perform operation.

[0017] Another aspect of the embodiment of the present application is to provide a storage medium, the storage medium stores program code, when the program code is executed, a control method of an agricultural unmanned aerial vehicle is executed, the method comprises:

[0018] Obtaining control information input by a user on a user interface;

[0019] According to the control information, determining an operation parameter of the agricultural unmanned aerial vehicle;

[0020] According to the operation parameter, the agricultural unmanned aerial vehicle is controlled to perform operation.

[0021] The control method of the agricultural unmanned aerial vehicle, the ground control terminal and the storage medium provided by the embodiment, through the user interface provided by the ground control terminal, the user interface is provided with a control icon of an operation parameter of the agricultural unmanned aerial vehicle which can be adjusted, the user can intuitively operate the control icon on the user interface, the ground control terminal determines the control information input by the user according to the operation of the user on the user interface, the control information is specifically used for adjusting the operation parameter of the agricultural unmanned aerial vehicle, that is, the intuitive operation of the user on the user interface can realize the adjustment of the operation parameter of the agricultural unmanned aerial vehicle, and the user can intuitively adjust the operation parameter of the unmanned aerial vehicle through the ground control terminal. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The flow chart of the control method of the agricultural unmanned aerial vehicle provided by the embodiment of the present application;

[0024] Figure 2 The schematic diagram of the user interface of the remote controller provided by the embodiment of the present application;

[0025] Figure 3 The schematic diagram of the operation area of the agricultural unmanned aerial vehicle provided by the embodiment of the present application;

[0026] Figure 4 The local enlarged schematic diagram of the user interface provided by the embodiment of the present application;

[0027] Figure 5 The schematic diagram of the user interface of the remote controller provided by another embodiment of the present application;

[0028] Figure 6 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0029] Figure 7 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0030] Figure 8 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0031] Figure 9 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0032] Figure 10 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0033] Figure 11 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0034] Figure 12 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0035] Figure 13 A schematic diagram of a user interface of a remote controller according to another embodiment of the application;

[0036] Reference signs:

[0037] 1 - slide bar 2 - slide bar 3 - slide bar 4 - slide bar 5 - slide bar

[0038] 6 - safety distance diagram 7 - nozzle diagram 20 - working area boundary

[0039] 21 - flight path 22 - boundary of geometric figure formed by flight path 41 - flight path 42 - agricultural unmanned aerial vehicle

[0040] 43 - nozzle 44 - nozzle 45 - nozzle 46 - nozzle 47 - positive direction

[0041] 51 - dialog box 52 - dialog box 53 - dialog box 54 - dialog box 55 - dialog box

[0042] 61 - map layer 62 - toolbar 71 - working area boundary point 81 - obstacle boundary

[0043] 82 - waypoint 90 - obstacle area 91 - working area 92 - flight path 93 - movable marker

[0044] 121 - route 130 - ground control terminal 131 - processor 132 - memory DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0046] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be intervening components. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be intervening components.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0048] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features of the embodiments can be combined with each other without conflict.

[0049] The embodiments of the present application provide a control method of an agricultural unmanned aerial vehicle. Figure 1 The flowchart of the control method of the agricultural unmanned aerial vehicle provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the method in the embodiments can include the following steps. Figure 1 The method in the embodiments can include the following steps.

[0050] In step S101, control information input by a user on a user interface is acquired.

[0051] The execution subject of the embodiment can be a ground control terminal for controlling the agricultural unmanned aerial vehicle, which can include at least one of a head-mounted display glasses (VR glasses, VR helmet, etc.), a mobile phone, a remote controller (such as a remote controller with a display screen), a smart bracelet, a tablet computer. The embodiment takes the remote controller with a display screen as an example to introduce the principle of the control method of the agricultural unmanned aerial vehicle. Unlike the existing remote controller with a display screen, the remote controller with a display screen provided by the embodiment is provided with a user interface. The user can control the agricultural unmanned aerial vehicle through the user interface, and the remote controller determines the control information input by the user according to the operation of the user on the user interface. The control information can include at least one of the following: spraying flow control information, spraying direction control information, flight speed control information, flight height control information, nozzle control information, flight path distance control information, and safety distance control information. In some embodiments, the control information can also include other control information in addition to the above.

[0052] As shown in Figure 2 , the user can control the spraying flow, flight speed, flight height (relative to the height of the crops), flight path distance, and safety distance of the agricultural unmanned aerial vehicle through the user interface. In addition, the radar height setting function and the intelligent nozzle opening function can also be enabled. The spraying flow can be the speed of the agricultural unmanned aerial vehicle spraying pesticides, seeds, water, and other spraying objects.

[0053] The flight path distance is the distance between the flight paths of the agricultural unmanned aerial vehicle. The size of the flight path distance determines whether the agricultural unmanned aerial vehicle will have the phenomenon of repeated spraying or missed spraying when spraying pesticides, seeds, water, and other spraying objects. Specifically, if the flight path distance is too large, the agricultural unmanned aerial vehicle will miss spraying, and if the flight path distance is too small, the agricultural unmanned aerial vehicle will repeatedly spray.

[0054] The safety distance is a distance set to prevent the agricultural unmanned aerial vehicle from colliding with the edge of the farmland when flying. As shown in Figure 3 Figure 6 shown in Figure 2 is an enlarged view of Figure 6, 20 represents the edge of the working area of the agricultural unmanned aerial vehicle, such as the edge of the farmland, 21 represents the flight path of the agricultural unmanned aerial vehicle, and 22 represents the edge of the geometric figure formed by the flight path. The safety distance refers to the distance between the edge 20 of the farmland and the edge 22 of the geometric figure formed by the flight path. This safety distance can prevent the agricultural unmanned aerial vehicle from spraying objects such as pesticides, water, seeds, etc. outside the edge 20 of the farmland, i.e. the working area of the agricultural unmanned aerial vehicle. Optionally, the safety distance is controlled within the range of 2.5 meters to 5 meters.

[0055] As shown in Figure 2As shown, the user interface further includes two slide buttons, a slide button corresponding to "radar height fixing" and a slide button corresponding to "smart nozzle opening", assuming that the slide button is slid to the right to indicate opening and to the left to indicate closing. In this embodiment, the agricultural unmanned aerial vehicle is provided with a radar, which can detect the height of the agricultural unmanned aerial vehicle from the crops. When the height of the agricultural unmanned aerial vehicle from the crops is constant and the agricultural unmanned aerial vehicle flies at a constant speed, the agricultural unmanned aerial vehicle can uniformly spray the pesticide. Since the terrain of the crop planting area may be undulating, the height of the agricultural unmanned aerial vehicle from the crops detected by the radar is real-time changing, therefore, in order to realize the height fixing flight or the ground following flight, the flight controller needs to adjust the flight height of the agricultural unmanned aerial vehicle in real time according to the detection result of the radar. Therefore, when the radar height fixing function is opened, the height of the agricultural unmanned aerial vehicle relative to the crops takes effect.

[0056] In addition, the agricultural unmanned aerial vehicle is provided with nozzles in different directions, such as Figure 4 As shown, the figure 7 is Figure 2 An enlarged view of the figure 7, 41 represents the flight path, 42 represents the agricultural unmanned aerial vehicle, and 43-46 respectively represent the nozzles carried on the agricultural unmanned aerial vehicle. Optionally, the agricultural unmanned aerial vehicle is provided with four nozzles in different directions, and the user can open the nozzles in different directions according to the heading of the agricultural unmanned aerial vehicle, for example, when the agricultural unmanned aerial vehicle flies forward, two nozzles in front of the agricultural unmanned aerial vehicle are opened; when the agricultural unmanned aerial vehicle flies backward, two nozzles behind the agricultural unmanned aerial vehicle are opened; it can also be that: when the agricultural unmanned aerial vehicle flies backward, two nozzles in front of the agricultural unmanned aerial vehicle are opened; when the agricultural unmanned aerial vehicle flies forward, two nozzles behind the agricultural unmanned aerial vehicle are opened, and the user can set according to different needs.

[0057] In this embodiment, the remote controller needs to determine the control information input by the user according to the operation of the user on the user interface, that is, to recognize the operation of the user, which can be realized by the following two ways:

[0058] The first way:

[0059] The user interface includes at least one of the following: an operation icon for controlling the spraying flow; an operation icon for controlling the flight speed of the unmanned aerial vehicle; an operation icon for controlling the flight height of the unmanned aerial vehicle; an operation icon for controlling the flight path distance; an operation icon for controlling the safety distance. The operation icon includes at least one of the following: a slide icon, a rotation icon, and a click icon. Optionally, the operation icon is a slide bar.

[0060] As Figure 2As shown, the user interface includes a slider 1 for controlling the spray flow rate, a slider 2 for controlling the flight speed, a slider 3 for controlling the flight altitude, a slider 4 for controlling the flight path spacing, and a slider 5 for controlling the safety distance.

[0061] Users can adjust different operating parameters and values ​​of agricultural drones by operating different sliders, such as sliding and clicking. The remote controller can identify the operating parameters adjusted and the set operating parameter values ​​based on the user's operation of different sliders.

[0062] The second type:

[0063] The user interface includes at least one of the following: a dialog box for inputting spray flow rate values; a dialog box for inputting flight speed values; a dialog box for inputting flight altitude values; a dialog box for inputting flight altitude values; and a dialog box for inputting safety distance values.

[0064] like Figure 5 As shown, the user interface includes a dialog box 51 for inputting spray flow rate values, a dialog box 52 for inputting flight speed values, a dialog box 53 for inputting flight altitude values, a dialog box 54 for inputting flight path spacing values, and a dialog box 55 for inputting safety distance values.

[0065] Users can adjust different operating parameters and values ​​of agricultural drones by operating different dialog boxes, such as inputting data. The remote controller can identify the operating parameters adjusted and the set operating parameter values ​​based on the user's operation of different dialog boxes.

[0066] Step S102: Determine the operating parameters of the agricultural unmanned aerial vehicle based on the control information.

[0067] In this embodiment, the operational parameters of the agricultural unmanned aerial vehicle include at least one of the following: spraying flow rate, spraying direction, flight speed, flight altitude, nozzle direction, flight path spacing, and safety distance. The control information input by the user through the user interface includes not only specific operational parameters but also their values.

[0068] The method by which the remote controller determines the operating parameters of the agricultural unmanned aerial vehicle based on the control information may include the following two:

[0069] The first type:

[0070] Based on the slider operated by the user, the operating parameters of the agricultural drone adjusted by the user are determined; based on the progress value of the slider, the operating parameter values ​​of the agricultural drone are determined.

[0071] like Figure 2As shown, the user adjusts different operation parameters of the agricultural unmanned aerial vehicle by operating different slide bars, for example, when the user operates the slide bar 1, it indicates that the user adjusts the spraying flow of the agricultural unmanned aerial vehicle; when the user operates the slide bar 4, it indicates that the user adjusts the route interval of the agricultural unmanned aerial vehicle. Therefore, the remote controller can determine the operation parameter of the agricultural unmanned aerial vehicle adjusted by the user according to the slide bar operated by the user. In addition, the user can also control the progress value of the slide bar when sliding the slide bar, which represents the value of the corresponding operation parameter set by the user, for example, the user slides the slide bar 1 to one third of the total range, at this time, the progress value of the slide bar 1 indicates that the spraying flow is 2.8 L / min, and the progress value of the slide bar is displayed in real time during the sliding process, so that the user can determine the position of the sliding stop.

[0072] Secondly:

[0073] According to the dialog box of the user input data, the operation parameter of the agricultural unmanned aerial vehicle adjusted by the user is determined; according to the data input by the user in the dialog box, the operation parameter value of the agricultural unmanned aerial vehicle is determined.

[0074] As Figure 5 As shown, the user adjusts different operation parameters of the agricultural unmanned aerial vehicle by inputting data in different dialog boxes, for example, inputting data in the dialog box 51 indicates adjusting the spraying flow of the agricultural unmanned aerial vehicle, and the specific data input in the dialog box 51 is 2.8 L / min, which indicates the size of the spraying flow controlled by the user.

[0075] Step S103, according to the operation parameter, controlling the agricultural unmanned aerial vehicle to work.

[0076] When the user completes the setting on the user interface, the remote controller controls the agricultural unmanned aerial vehicle to work according to the operation parameter of the agricultural unmanned aerial vehicle adjusted by the user, for example, the user sets the spraying flow to 2.8 L / min, then the remote controller sends the control signaling of the operation parameter being the spraying flow and the operation parameter value being 2.8 L / min to the flight controller of the agricultural unmanned aerial vehicle, so that the flight controller controls the spraying flow of the agricultural unmanned aerial vehicle to be 2.8 L / min.

[0077] In addition, in this embodiment, the operation object of the agricultural unmanned aerial vehicle can not only be crops, but also vegetation, forest, etc.

[0078] The embodiment provides a user interface provided by the ground control terminal, the user interface is provided with control icons of adjustable operation parameters of the agricultural unmanned aerial vehicle, the user can intuitively operate the control icons on the user interface, the ground control terminal determines control information input by the user according to the operation of the user interface on the user interface, and the control information is specifically used for adjusting the operation parameters of the agricultural unmanned aerial vehicle, that is, the intuitive operation of the user on the user interface can realize the adjustment of the operation parameters of the agricultural unmanned aerial vehicle, and the user can intuitively adjust the operation parameters of the unmanned aerial vehicle through the ground control terminal.

[0079] The embodiment of the application provides a control method of an agricultural unmanned aerial vehicle. Figure 6 As shown in the figure, a map layer or an electronic map is displayed on the user interface, 61 represents a crop, and 62 represents a toolbar, the toolbar specifically displays GPS accuracy of the remote controller, planned area of the crop, distance of a flight path when the agricultural unmanned aerial vehicle operates, and height of the agricultural unmanned aerial vehicle relative to the crop.

[0080] Before the agricultural unmanned aerial vehicle operates, a flight path of the agricultural unmanned aerial vehicle needs to be planned, and a specific method of flight path planning includes the following contents: a tester carries the remote controller and walks in an operation area of the agricultural unmanned aerial vehicle, a GPS positioning module of the remote controller can perform real-time positioning or periodic positioning on a position where the remote controller is located, the periodic positioning can be performed once per second, and the remote controller can display positioning information of the GPS positioning module on the user interface in real time; when the tester carries the remote controller and walks along a boundary of the operation area, the tester can click a "start measurement C1" icon as shown in the figure. Figure 6 An effect of the tester clicking the "start measurement C1" icon is that subsequent positioning information of the GPS positioning module is positioning information of a boundary point of the operation area. Figure 7 When the tester carries the remote controller and walks along the boundary of the operation area and finishes one round, a boundary point 71 of the operation area is obtained as shown in the figure, and an area formed by the boundary point 71 of the operation area is the operation area of the agricultural unmanned aerial vehicle measured by the remote controller. In addition, an obstacle usually exists in the operation area of the agricultural unmanned aerial vehicle, therefore, the obstacle existing in the operation area needs to be measured, specifically, the tester can carry the remote controller and walk in the operation area, when the tester finds an obstacle point such as a big tree or an obstacle region such as a fish pond, a "start measurement C2" icon as shown in the figure needs to be clicked. Figure 7The "add obstacle C2" icon is clicked, and the effect is that the subsequent positioning information of the GPS positioning module is the positioning information of the obstacle in the operation area. Specifically, when the tester finds an obstacle point, the GPS positioning module locates the position of the obstacle point. When the tester finds an obstacle region, the tester needs to walk along the boundary of the obstacle region. During the walking process, the GPS positioning module locates in real time or periodically, and at the same time, the remote controller displays the positioning information on the user interface in real time. After the tester walks along the boundary of the obstacle region, the boundary of the obstacle in the operation area 81 is obtained as shown in the figure. Figure 8 On the basis of Figure 8 , the user can also click the "add waypoint C3" icon. After the user clicks the "add waypoint C3" icon, the remote controller generates a waypoint 82 according to the data on Figure 7 and the data on Figure 8 and displays it. At this time, the mapping work of the operation area has been completed. The tester clicks the "end obstacle C2" icon on Figure 8 to end the mapping of the obstacle. The remote controller automatically generates a user interface as shown in Figure 9 . As shown in Figure 9 , the user interface includes an obstacle region 90, a target region 91 for identifying the operation area of the agricultural unmanned aerial vehicle, a target line segment 92 for identifying the flight path of the agricultural unmanned aerial vehicle, and a movable marker 93 for identifying the heading of the agricultural unmanned aerial vehicle.

[0081] The implementation manner of obtaining the spraying direction control information input by the user on the user interface includes the following:

[0082] The first kind:

[0083] Obtain the spraying direction control information input by the user on the user interface by rotating the target region.

[0084] As shown in Figure 9 , the user can select the target region 91 on the user interface and rotate the target region 91 in the clockwise direction to obtain a user interface as shown in Figure 10 . According to Figure 9 and Figure 10 , it can be seen that after rotation, the direction of the target line segment 92 changes, indicating that the user adjusts the flight path of the agricultural unmanned aerial vehicle by rotating the target region 91, thereby achieving adjustment of the spraying direction.

[0085] The second kind:

[0086] Obtain the spraying direction control information input by the user on the user interface by rotating the target line segment.

[0087] As Figure 9 shown, the user can also select the target line segment 92 and rotate the target line segment 92 in a clockwise direction to adjust the flight path of the agricultural unmanned aerial vehicle while adjusting the spraying direction of the agricultural unmanned aerial vehicle.

[0088] Thirdly:

[0089] Obtain spraying direction control information input by the user on the user interface by controlling the direction of the movable marker. The movable marker includes an icon or a cursor.

[0090] As Figure 9 shown, since the movable marker 93 can be used to represent the spraying direction of the agricultural unmanned aerial vehicle, when the direction of the movable marker 93 changes, the spraying direction of the agricultural unmanned aerial vehicle also changes, for example, the user adjusts the movable marker 93 in a clockwise direction to obtain the user interface as Figure 11 shown, compared to Figure 9 , the direction of the movable marker 93 has changed, and at the same time, the spraying direction of the agricultural unmanned aerial vehicle has also changed, and the pointing direction of the movable marker 93 is consistent with the spraying direction of the agricultural unmanned aerial vehicle.

[0091] Fourthly:

[0092] Obtain spraying direction control information input by the user on the user interface by clicking the left side or the right side of the line between the first marker point and the second marker point.

[0093] As Figure 12 shown, the user interface also includes a first marker point A for identifying the first position of the agricultural unmanned aerial vehicle, and a second marker point B for identifying the second position of the agricultural unmanned aerial vehicle. According to the first marker point A and the second marker point B, a line AB can be determined, and the user can also click the left side or the right side of the line AB on the user interface to adjust the spraying direction of the agricultural unmanned aerial vehicle, for example, the user clicks the left side of the line AB on the user interface, and the remote controller will control the agricultural unmanned aerial vehicle to fly along the flight path 121 as Figure 12 shown, which is located on the left side of the line AB, and the flight path is adjusted at the same time as the spraying direction of the agricultural unmanned aerial vehicle.

[0094] Fifthly:

[0095] Obtain spraying direction control information input by the user on the user interface by operating the first marker point and the second marker point.

[0096] As Figure 12As shown, users can also input spraying direction control information on the user interface by operating on the first marker point A and the second marker point B. For example, if a user slides their finger from the first marker point A to the second marker point B on the user interface, it indicates that the spraying direction of the agricultural drone is consistent with the direction from the first marker point A to the second marker point B. If a user slides their finger from the second marker point B to the first marker point A on the user interface, it indicates that the spraying direction of the agricultural drone is consistent with the direction from the second marker point B to the first marker point A. Furthermore, if a user taps the first marker point A first and then the second marker point B on the user interface, it indicates that the spraying direction of the agricultural drone is consistent with the direction from the first marker point A to the second marker point B. If a user taps the second marker point B first and then the first marker point A on the user interface, it indicates that the spraying direction of the agricultural drone is consistent with the direction from the second marker point B to the first marker point A.

[0097] In this embodiment, the user interface includes at least one of the following: a target area for identifying the operating area of ​​the agricultural drone, a target line segment for identifying the flight path of the agricultural drone, a movable marker for identifying the heading of the agricultural drone, a first marker point for identifying the first position of the agricultural drone, and a second marker point for identifying the second position of the agricultural drone. This allows the user to adjust the spraying direction of the agricultural drone by rotating the target area, rotating the target line segment, and controlling the direction of the movable marker on the user interface. In addition, the user can also adjust the spraying direction of the agricultural drone by clicking the left or right side of the line connecting the first and second marker points, or by operating the first and second marker points. This allows the user to conveniently and flexibly adjust the spraying direction of the agricultural drone through the user interface.

[0098] This invention provides a control method for an agricultural unmanned aerial vehicle (UAV). Based on the above embodiments, the agricultural UAV is equipped with multiple nozzles, each nozzle located at a different position on the agricultural UAV.

[0099] like Figure 4 The figure shown is 7. Figure 2 An enlarged view of Figure 7 shows a user interface displaying graphics used to identify the agricultural drone, which are used to control the nozzles mounted on the drone. Figure 42 represents the agricultural drone, curves 43-46 represent the four nozzles mounted on the drone in different directions, target line segment 41 represents the flight path, target line segments AB and CD represent the flight path, and figure 42, representing the agricultural drone, is located on the target line segment representing the flight path.

[0100] Assuming that the direction shown by arrow 47 is the positive direction, and arrow 47 points to the north, the heading is the positive direction when the agricultural unmanned aerial vehicle operates on the route AB, and the heading is the negative direction when the agricultural unmanned aerial vehicle operates on the route CD. Curves 43-46 are selectable parts on the user interface, when the user clicks the curve, the curve is selected, for example, when curves 43 and 44 are selected at the same time, it means that the user controls the first two spray heads of the agricultural unmanned aerial vehicle through the user interface to be opened, when the user clicks curves 43 and 44 again, curves 43 and 44 are in the unselected state, which means that the user controls the first two spray heads of the agricultural unmanned aerial vehicle through the user interface to be closed; similarly, the opening or closing operation of the last two spray heads of the agricultural unmanned aerial vehicle.

[0101] Specifically, when the agricultural unmanned aerial vehicle flies forward, the first two spray heads in front of the agricultural unmanned aerial vehicle are opened; when the agricultural unmanned aerial vehicle flies backward, the last two spray heads behind the agricultural unmanned aerial vehicle are opened. The advantage of this setting is that it can increase the penetration of the sprayed material, and the sprayed material is pesticide, and the sprayed object is forest, so that the pesticide sprayed by the agricultural unmanned aerial vehicle can penetrate through the gap between the leaves and penetrate the light side of the leaves.

[0102] In addition, the first two spray heads in front of the agricultural unmanned aerial vehicle can also be opened when the agricultural unmanned aerial vehicle flies backward, and the last two spray heads behind the agricultural unmanned aerial vehicle can also be opened when the agricultural unmanned aerial vehicle flies forward, which can be set by the user according to different needs. The advantage of this setting is that it can avoid the influence of air flow, the speed of the agricultural unmanned aerial vehicle itself and / or wind speed on the sprayed material.

[0103] In addition, the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the spray head is set by the user according to actual needs, and the setting of the correspondence is not limited to the method shown in Figure 4 , but can also be in the form of a dialog box, for example, the user interface displays a dialog box for setting the heading and a dialog box for setting the direction of the spray head, and the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the spray head is established through the two dialog boxes. The user can manually input the heading or the direction of the spray head in the dialog box, or click the list display button on the dialog box to select the heading or the direction of the spray head from the list.

[0104] The spray head control method described in this embodiment takes effect under the condition that the sliding button corresponding to the "intelligent spray head opening" shown in Figure 2 is opened, if the sliding button corresponding to the "intelligent spray head opening" shown in Figure 2 is in the closed state, the spray head control method described in this embodiment does not take effect.

[0105] The embodiment realizes intelligent control of the spray head by controlling the direction of the spray head through the heading of the agricultural unmanned aerial vehicle. In addition, different corresponding relationships between the heading of the agricultural unmanned aerial vehicle and the direction of the spray head can also produce different benefits in the operation process of the agricultural unmanned aerial vehicle. The user can set the corresponding relationship between the heading of the agricultural unmanned aerial vehicle and the direction of the spray head according to actual needs, thereby increasing the flexibility of spray head control.

[0106] The embodiment of the application provides a ground control terminal. Figure 13 The structure diagram of the ground control terminal provided by the embodiment of the application is shown in Figure 13 The ground control terminal 130 includes a processor 131 and a memory 132 configured to store executable instructions of the processor 131. The processor 131 is configured to display a user interface, obtain control information input by a user on the user interface, determine operation parameters of the agricultural unmanned aerial vehicle according to the control information, and control the agricultural unmanned aerial vehicle to operate according to the operation parameters.

[0107] In the embodiment, the control information includes at least one of spray flow control information, spray direction control information, flight speed control information, flight height control information, spray head control information, flight line spacing control information, and safety distance control information. The safety distance is used to avoid the agricultural unmanned aerial vehicle from spraying the spray to outside of the operation area of the agricultural unmanned aerial vehicle.

[0108] The operation parameters include at least one of spray flow, spray direction, flight speed, flight height, spray head direction, flight line spacing, and safety distance.

[0109] Optionally, the processor 131 is configured to display at least one of the following on the user interface: an operation icon for controlling the spray flow, an operation icon for controlling the spray direction, an operation icon for controlling the flight speed of the agricultural unmanned aerial vehicle, an operation icon for controlling the flight height of the agricultural unmanned aerial vehicle, an operation icon for controlling the flight line spacing, and an operation icon for controlling the safety distance.

[0110] an operation icon for controlling the flight speed of the agricultural unmanned aerial vehicle;

[0111] an operation icon for controlling the flight height of the agricultural unmanned aerial vehicle;

[0112] an operation icon for controlling the flight line spacing;

[0113] an operation icon for controlling the safety distance.

[0114] The operation icon includes at least one of a sliding icon, a rotating icon, and a clicking icon. Optionally, the operation icon is a sliding bar.

[0115] In some embodiments, the processor 131 is configured to display on the user interface at least one of: a dialog box for inputting a spraying flow value; a dialog box for inputting a flight speed value; a dialog box for inputting a flight height value; a dialog box for inputting a route spacing value; and a dialog box for inputting a safety distance value.

[0116] In particular, the processor 131 is configured to obtain control information input by a user on the user interface by operating the sliding bar.

[0117] The processor 131 is configured to determine, according to the sliding bar operated by the user, a work parameter of the agricultural unmanned aerial vehicle adjusted by the user, and determine a work parameter value of the agricultural unmanned aerial vehicle according to a progress value of the sliding bar.

[0118] Alternatively, the processor 131 is configured to determine, according to a dialog box input by the user, a work parameter of the agricultural unmanned aerial vehicle adjusted by the user, and determine a work parameter value of the agricultural unmanned aerial vehicle according to data input by the user in the dialog box.

[0119] The specific principles and implementation manners of the ground control terminal provided by the embodiments of the present application are similar to those of the embodiments shown in Figures 1-5 , and will not be described herein again.

[0120] The user interface provided by the ground control terminal is provided with a control icon of a work parameter of the agricultural unmanned aerial vehicle that can be adjusted by the user, and the user can intuitively operate the control icon on the user interface. The ground control terminal determines control information input by the user according to the operation of the user interface by the user, and the control information is specifically used to adjust a work parameter of the agricultural unmanned aerial vehicle. That is, the intuitive operation of the user on the user interface can realize the adjustment of the work parameter of the agricultural unmanned aerial vehicle, and the user can intuitively adjust the work parameter of the unmanned aerial vehicle through the ground control terminal.

[0121] The embodiments of the present application provide a ground control terminal. Figure 13 On the basis of the technical solutions provided in the embodiments shown in , the processor 131 is configured to display on the user interface at least one of: a target region for identifying a work region of the agricultural unmanned aerial vehicle; a target line segment for identifying a flight route of the agricultural unmanned aerial vehicle; a movable marker for identifying a heading of the agricultural unmanned aerial vehicle; a first marker point for identifying a first position of the agricultural unmanned aerial vehicle; and a second marker point for identifying a second position of the agricultural unmanned aerial vehicle.

[0122] Specifically, the processor 131 is configured to: acquire the spraying direction control information input by the user rotating the target region on the user interface; or acquire the spraying direction control information input by the user rotating the target line segment on the user interface; or acquire the spraying direction control information input by the user controlling the direction of the movable marker on the user interface; or

[0123] acquire the spraying direction control information input by the user clicking the left side or the right side of the line connecting the first marker point and the second marker point on the user interface;

[0124] or,

[0125] acquire the spraying direction control information input by the user operating the first marker point and the second marker point on the user interface. The movable marker includes an icon or a cursor. The operation on the first marker point and the second marker point includes at least one of the following: sliding from the first marker point to the second marker point; sliding from the second marker point to the first marker point; clicking the first marker point first and then clicking the second marker point; clicking the second marker point first and then clicking the first marker point.

[0126] The specific principles and implementation manners of the ground control terminal provided in the embodiments of the present application are similar to those of the embodiment shown in Figures 6-12 , and will not be described here in detail.

[0127] In the embodiment, the user interface includes at least one of the following: a target region for identifying the working area of the agricultural unmanned aerial vehicle, a target line segment for identifying the flight route of the agricultural unmanned aerial vehicle, a movable marker for identifying the heading of the agricultural unmanned aerial vehicle, a first marker point for identifying the first position of the agricultural unmanned aerial vehicle, and a second marker point for identifying the second position of the agricultural unmanned aerial vehicle, so that the user can adjust the spraying direction of the agricultural unmanned aerial vehicle by rotating the target region, rotating the target line segment, and controlling the direction of the movable marker on the user interface. In addition, the user can also adjust the spraying direction of the agricultural unmanned aerial vehicle by clicking the left side or the right side of the line connecting the first marker point and the second marker point, or by operating the first marker point and the second marker point, so that the user can conveniently and flexibly adjust the spraying direction of the agricultural unmanned aerial vehicle through the user interface.

[0128] The embodiment of the present application provides a ground control terminal. Figure 5The embodiment shown provides a technical solution, the agricultural unmanned vehicle is provided with a plurality of spray heads, each spray head is located at different positions of the agricultural unmanned vehicle. The processor 131 is configured to display a graph for identifying the agricultural unmanned vehicle on the user interface, and the graph is used to control the spray head carried on the agricultural unmanned vehicle.

[0129] Optionally, the processor 131 is configured to obtain spray head control information input by the user by operating the graph on the user interface.

[0130] The spray head control information includes at least one of the following: spray head opening control information, spray head closing control information.

[0131] In addition, the processor 131 is further configured to display a target line segment for identifying a flight route of the agricultural unmanned vehicle on the user interface, and the graph is located on the target line segment.

[0132] The specific principles and implementation manners of the ground control terminal provided by the embodiment of the application are similar to those of the embodiment shown in the above Figure 2 and Figure 4 The embodiment shown in the above, and details are not repeated here.

[0133] The embodiment realizes intelligent control of the spray head by controlling the direction of the spray head through the heading of the agricultural unmanned vehicle. In addition, the different corresponding relationship between the heading of the agricultural unmanned vehicle and the direction of the spray head can also produce different benefits in the operation process of the agricultural unmanned vehicle. The user can set the corresponding relationship between the heading of the agricultural unmanned vehicle and the direction of the spray head according to actual needs, thereby increasing the flexibility of spray head control.

[0134] The embodiment of the application also provides a storage medium, the storage medium stores program code, when the program code runs, the control method of the agricultural unmanned vehicle is executed, the specific principles and implementation manners of the control method are similar to those of the method introduced in the above method embodiment, and details are not repeated here.

[0135] In the several embodiments of the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiment described above is only schematic. For example, the division of the units is only a logical function division. In actual implementation, another division mode can be used. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0136] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0137] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0138] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the application. The foregoing storage medium includes a variety of program code storage media such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0139] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, i.e. the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0140] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A control method for an agricultural unmanned aerial vehicle, characterized in that, The agricultural unmanned aerial vehicle (UAV) is equipped with multiple nozzles, each located at a different position on the UAV. The UAV is controlled by a ground control terminal, which provides a user interface. The method includes: The system acquires control information input by the user on the user interface. This control information includes: spray flow control information, flight speed control information, flight altitude control information, flight path spacing control information, spray direction control information, safety distance control information, and control information regarding whether the radar altitude hold function is enabled. The safety distance is used to prevent the agricultural drone from colliding with the edge of the work area during flight or to prevent the agricultural drone from spraying materials outside the work area. The safety distance is the distance between the edge of the work area and the edge of the geometric shape formed by the flight path of the agricultural drone within the work area. The spray direction control information can be set by the user adjusting the direction of a movable marker displayed on the user interface. This movable marker is used to indicate the heading of the agricultural drone. Based on the control information, the operating parameters of the agricultural unmanned aerial vehicle are determined; and Controlling the agricultural unmanned aerial vehicle to perform operations according to the aforementioned operational parameters includes: When the radar altitude hold function is activated, the flight altitude of the agricultural unmanned aerial vehicle is adjusted in real time according to the radar detection results to achieve altitude hold flight or terrain-following flight.

2. The method according to claim 1, wherein the operating parameters include at least one of the following: spray flow rate, flight speed, flight altitude, flight path spacing, and safety distance.

3. The method according to claim 2, characterized in that, The user interface includes at least one of the following: Operation icons used to control the spray flow rate; Operation icons used to control the flight speed of the agricultural unmanned aerial vehicle; Operation icons used to control the flight altitude of the agricultural unmanned aerial vehicle; Operation icons used to control the spacing between the flight lines; An icon used to control the safe distance.

4. The method according to claim 3, characterized in that, The operation icon is a slider; The step of obtaining control information input by the user on the user interface includes: Obtain control information input by the user through the operation of the slider on the user interface.

5. The method according to claim 4, characterized in that, Determining the operating parameters of the agricultural unmanned aerial vehicle based on the control information includes: The operating parameters of the agricultural drone adjusted by the user are determined based on the slider operated by the user. The operating parameters of the agricultural unmanned aerial vehicle are determined based on the progress value of the slider.

6. The method according to claim 2, characterized in that, The user interface includes at least one of the following: A dialog box for entering spray flow rate values; A dialog box for entering flight speed values; A dialog box for entering flight altitude values; A dialog box for entering line spacing values; A dialog box for entering safe distance values.

7. The method according to claim 6, characterized in that, Determining the operating parameters of the agricultural unmanned aerial vehicle based on the control information includes: Based on the dialog box containing user input data, determine the operating parameters of the agricultural unmanned aerial vehicle adjusted by the user; The operating parameter values ​​of the agricultural unmanned aerial vehicle are determined based on the data entered by the user in the dialog box.

8. The method according to claim 2, characterized in that, The user interface includes at least one of the following: Target area used to identify the operating area of ​​the agricultural unmanned aerial vehicle; Target line segments used to identify the flight path of the agricultural unmanned aerial vehicle; Movable markers used to identify the heading of the agricultural unmanned aerial vehicle; A first marker point for identifying the first location of the agricultural unmanned aerial vehicle (UAV), and a second marker point for identifying the second location of the agricultural UAV.

9. A ground control terminal, characterized in that, include: processor; Memory configured to store processor-executable instructions; The processor is configured as follows: Display user interface; The system acquires control information input by the user on the user interface. This control information includes: spray flow control information, flight speed control information, flight altitude control information, flight path spacing control information, spray direction control information, safety distance control information, and control information regarding whether the radar altitude hold function is enabled. The safety distance is used to prevent the agricultural drone from colliding with the edge of the work area during flight or to prevent the agricultural drone from spraying materials beyond the edge of the work area. The safety distance is the distance between the edge of the work area and the edge of the geometric shape formed by the flight path of the agricultural drone within the work area. The spray direction control information can be set by the user adjusting the direction of a movable marker displayed on the user interface. This movable marker is used to indicate the heading of the agricultural drone. Based on the control information, the operating parameters of the agricultural unmanned aerial vehicle are determined; and Controlling the agricultural unmanned aerial vehicle to perform operations according to the aforementioned operational parameters includes: When the radar altitude hold function is activated, the flight altitude of the agricultural unmanned aerial vehicle is adjusted in real time according to the radar detection results to achieve altitude hold flight or terrain-following flight.

10. The ground control terminal according to claim 9, wherein the operating parameters include at least one of the following: spray flow rate, flight speed, flight altitude, flight path spacing, and safety distance.

11. The ground control terminal according to claim 10, characterized in that, The processor is configured to display at least one of the following on the user interface: Operation icons used to control the spray flow rate; Operation icons used to control the flight speed of the agricultural unmanned aerial vehicle; Operation icons used to control the flight altitude of the agricultural unmanned aerial vehicle; Operation icons used to control the spacing between the flight lines; An icon used to control the safe distance.

12. The ground control terminal according to claim 11, characterized in that, The operation icon is a slider; The processor is configured to: Obtain control information input by the user through the operation of the slider on the user interface.

13. The ground control terminal according to claim 12, characterized in that, The processor is configured to: The operating parameters of the agricultural drone adjusted by the user are determined based on the slider operated by the user. The operating parameters of the agricultural unmanned aerial vehicle are determined based on the progress value of the slider.

14. The ground control terminal according to claim 10, characterized in that, The processor is configured to display at least one of the following on the user interface: A dialog box for entering spray flow rate values; A dialog box for entering flight speed values; A dialog box for entering flight altitude values; A dialog box for entering line spacing values; A dialog box for entering safe distance values.

15. The ground control terminal according to claim 14, characterized in that, The processor is configured to: Based on the dialog box containing user input data, determine the operating parameters of the agricultural unmanned aerial vehicle adjusted by the user; The operating parameter values ​​of the agricultural unmanned aerial vehicle are determined based on the data entered by the user in the dialog box.

16. The ground control terminal according to claim 10, characterized in that, The processor is configured to display at least one of the following on the user interface: Target area used to identify the operating area of ​​the agricultural unmanned aerial vehicle; Target line segments used to identify the flight path of the agricultural unmanned aerial vehicle; Movable markers used to identify the heading of the agricultural unmanned aerial vehicle; A first marker point for identifying the first location of the agricultural unmanned aerial vehicle (UAV), and a second marker point for identifying the second location of the agricultural UAV.

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