Remnant Detection Method, Control Method, Device, Equipment and Medium of Unmanned Equipment

Abstract

The present application provides a method for detecting remaining materials, a method for controlling an unmanned device, a device, a device and a medium. The method for detecting remaining materials includes: determining calibration data when an operation module of the unmanned device is in a non-operation state, where the calibration data is used to characterize the relationship between the operation parameters of the operation module and the corresponding material discharge amount; determining the actual operation parameters of the operation module during the operation of the unmanned device; and determining a remaining material detection result according to the calibration data and the actual operation parameters. The technical solution of the present application can improve the accuracy of the remaining material detection result, and thus can improve the operation efficiency.

Description

Technical Field

[0001] This application relates to the technical field of unmanned devices, and specifically relates to a method for detecting remaining materials, a control method for unmanned devices, a device, a device and a medium. Background Art

[0002] With the development of science and technology, unmanned devices are more and more widely used. Especially in the process of agricultural production, the application of unmanned devices can significantly improve production efficiency. For example, using unmanned devices to spray drugs, sow seeds, and so on.

[0003] A material container is configured on the unmanned device, and a sensor for detecting the remaining amount of the material is arranged in the material container. The unmanned device guides the further operation and control of the unmanned device according to the detection result of the sensor. However, using the sensor to detect the remaining materials is prone to the problem that the detection result is inaccurate due to the influence of the operation state of the unmanned device, which in turn causes the unmanned device to make wrong decisions. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a method for detecting remaining materials, a control method for unmanned devices, a device, a device and a medium, which can improve the accuracy of the remaining material detection result.

[0005] In a first aspect, the embodiments of this application provide a method for detecting remaining materials, including: determining calibration data when the operation module of the unmanned device is in a non-operating state, where the calibration data is used to characterize the relationship between the operation parameters of the operation module and the corresponding material discharge amount; determining the actual operation parameters of the operation module during the operation of the unmanned device; and determining the remaining material detection result according to the calibration data and the actual operation parameters.

[0006] In some embodiments of this application, determining the calibration data when the operation module of the unmanned device is in a non-operating state includes: receiving calibration data from a mobile terminal.

[0007] In some embodiments of this application, determining the calibration data when the operation module of the unmanned device is in a non-operating state includes: when the unmanned device is in a stationary state, determining the operation parameters corresponding to the operation module running for a preset time, and detecting the remaining material amount when the preset time expires; and determining the calibration data based on the operation parameters corresponding to the operation module running for the preset time, the initial material amount of the operation module, and the remaining material amount.

[0008] In some embodiments of this application, determining the calibration data when the operation module of the unmanned device is in a non-operating state includes: when the unmanned device is in a stationary state, determining the operation parameters corresponding to the operation module consuming a preset capacity of the material; and determining the calibration data based on the operation parameters corresponding to the operation module consuming the preset capacity of the material and the preset capacity.

[0009] In some embodiments of the present application, the remaining material detection result includes the capacity of the remaining material. Determining the remaining material detection result according to the calibration data and the actual operating parameters includes: determining the capacity of the remaining material according to the calibration data, the actual operating parameters, and the initial material quantity.

[0010] In some embodiments of the present application, the remaining material detection result is that the unmanned device meets the replenishment condition or does not meet the replenishment condition. Determining the remaining material detection result according to the calibration data and the actual operating parameters includes: determining the operating parameter threshold of the operation module according to the calibration data and the initial material quantity; when the actual operating parameter is greater than or equal to the operating parameter threshold, determining that the remaining material detection result is that the unmanned device meets the replenishment condition.

[0011] In some embodiments of the present application, the operating parameters include the rotation parameters of the driving motor in the operation module.

[0012] In a second aspect, an embodiment of the present application provides a control method for an unmanned device, including: the remaining material detection method as described in the first aspect; controlling the unmanned device to move to a replenishment station for replenishment according to the remaining material detection result determined by the remaining material detection method.

[0013] In a third aspect, an embodiment of the present application provides a remaining material detection device, including: a first determination module, configured to determine the calibration data of the operation module of the unmanned device in a non-operating state, where the calibration data is used to characterize the relationship between the operating parameters of the operation module and the corresponding material discharge amount; a second determination module, configured to determine the actual operating parameters of the operation module during the operation of the unmanned device; a third determination module, configured to determine the remaining material detection result according to the calibration data and the actual operating parameters.

[0014] In a fourth aspect, an embodiment of the present application provides a control device for an unmanned device, including: the remaining material detection device as described in the third aspect; a control module, configured to control the unmanned device to move to a replenishment station for replenishment according to the remaining material detection result determined by the remaining material detection device.

[0015] In a fifth aspect, an embodiment of the present application provides an unmanned device, including: a processor; a memory for storing processor-executable instructions, where the processor is configured to execute the remaining material detection method as described in the first aspect or execute the control method for the unmanned device as described in the second aspect.

[0016] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the remaining material detection method as described in the first aspect or execute the control method for the unmanned device as described in the second aspect.

[0017] The embodiments of the present application provide a method for detecting remaining materials, a method for controlling an unmanned device, a device, a device and a medium. By determining the calibration data of the operation module when the operation module is in a non-operation state, determining the actual operation parameters of the operation module during the operation of the unmanned device, and determining the remaining material detection result based on the calibration data and the actual operation parameters, it is possible to avoid detecting the remaining materials according to the apparent position of the material during the operation of the unmanned device, and being affected by the operation state during the operation of the unmanned device on the remaining material detection result. Thus, the accuracy of the remaining material detection result can be improved, and the operation efficiency can be further improved. Description of the Drawings

[0018] Figure 1 The figure shows a schematic diagram of the system architecture of a remaining material detection system provided by an exemplary embodiment of the present application.

[0019] Figure 2 The figure shows a schematic diagram of the flow of a remaining material detection method provided by an exemplary embodiment of the present application.

[0020] Figure 3 The figure shows a schematic diagram of the flow of a remaining material detection method provided by another exemplary embodiment of the present application.

[0021] Figure 4 The figure shows a schematic diagram of the flow of a control method for an unmanned device provided by an exemplary embodiment of the present application.

[0022] Figure 5 The figure shows a schematic diagram of the structure of a remaining material detection device provided by an exemplary embodiment of the present application.

[0023] Figure 6 The figure shows a schematic diagram of the structure of a control device for an unmanned device provided by an exemplary embodiment of the present application.

[0024] Figure 7 The figure shows a block diagram of an unmanned device for executing the remaining material detection method provided by an exemplary embodiment of the present application. Detailed Embodiments

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with 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. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] Since unmanned devices can realize the industrialization of the operation process and improve the operation efficiency, they are widely used in fields such as agriculture and industry. For example, in the agricultural field, unmanned devices can be used for processes such as sowing, pesticide spraying, and fertilizer spreading.

[0027] In order to further improve operation automation and operation efficiency, when an unmanned device performs an operation, it will detect the remaining amount of material in the material container on the unmanned device, so as to guide the further operation control of the unmanned device according to the detection result. For example, the operation rate can be adjusted according to the detection result (such as increasing or decreasing the spraying rate according to actual needs); the actual operation rate can be determined according to the detection result, and fault analysis can be performed when the actual operation rate differs greatly from the preset target operation rate; or, it can be determined whether the material is sufficient according to the detection result (such as whether the remaining amount of material is greater than or equal to a preset threshold), and subsequent material replenishment work can be performed when the material is insufficient (the remaining amount of material is less than the preset threshold).

[0028] Currently, the detection of remaining materials is generally achieved through sensors.

[0029] However, when using sensors to detect remaining materials, it is easy to have the problem that the detection result is inaccurate due to the influence of the operation state of the unmanned device, which may further lead to incorrect decisions by the unmanned device. Because the materials in the material container will shake during the operation of the unmanned device. Especially when the material is liquid, the shaking of the material will cause the sensor to shake, resulting in deviation of the detection result. For example, when there is a large amount of remaining material, the detection result shows that the remaining material is insufficient, then the unmanned device will return with a large load, directly affecting the overall operation efficiency, and there is also a risk of serious problems such as forced landing.

[0030] Similarly, if the material is solid particles, the solid particles are likely to block the sensor, which will also cause the detection result to not match the actual remaining amount of material. In addition, the vibration during the operation of the unmanned device will damage the sensor hardware board and other structures, which will also cause the detection result to not match the actual remaining amount of material.

[0031] In summary, during the operation of the unmanned device, using sensors to detect the remaining amount of material is likely to have the problem that the detection result is inaccurate due to material shaking, material blocking the sensor, or damage to the sensor itself.

[0032] Embodiment 1

[0033] Figure 1 The following shows a schematic diagram of the system architecture of the remaining material detection system 100 provided by an exemplary embodiment of the present application, which shows an application scenario of detecting the remaining materials of the operation module of an unmanned device. The remaining material detection system 100 includes an unmanned device 110 and an operation module 120.

[0034] The unmanned device 110 can be devices such as unmanned vehicles and unmanned aerial vehicles, and the operation module 120 can be modules such as a spreading module and a spraying module. The operation module 120 can be carried on the unmanned device 110, or the operation module 120 can be integrated into the unmanned device 110. During the operation process, the unmanned device 110 can detect the actual operation parameters of the operation module 120, and determine the remaining material detection result according to the actual operation parameters and calibration data. For the specific remaining material detection method, reference can be made to the description in the following text.

[0035] In some embodiments, the unmanned device 110 can determine the calibration data by detecting the operation parameters when the operation module 120 is in a non-operation state. In some other embodiments, the unmanned device 110 can obtain the calibration data from the computer device 130. The computer device 130 can be communicatively connected to the unmanned device 110, and the computer device 130 can be devices such as a mobile phone, a tablet computer, and a notebook.

[0036] It should be noted that the above application scenarios are only shown for the convenience of understanding the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario where they may be applicable.

[0037] Embodiment 2

[0038] Figure 2 The figure shows a schematic flow chart of the remaining material detection method provided by an exemplary embodiment of the present application. Figure 2 The method can be executed by the unmanned device, for example, by the controller of the unmanned device. As Figure 2 shown, the remaining material detection method includes the following content.

[0039] 210: Determine the calibration data of the operation module of the unmanned device when it is in a non-operation state, and the calibration data is used to characterize the relationship between the operation parameters of the operation module and the corresponding material discharge amount.

[0040] Specifically, the unmanned device can be devices such as unmanned vehicles and unmanned aerial vehicles. An operation module can be provided on the unmanned device, and the operation module can be detachable or non-detachable. The operation module can be used for spreading operations, such as sowing crops and spreading fertilizers, or spraying operations, such as spraying pesticides and watering.

[0041] The operation module can include a material container and a driving device, and the driving device can be used to discharge the material in the material container to realize the operation process of the operation module.

[0042] The driving device can be a screw conveyor, a plunger or a screw, etc. In one embodiment, the driving device can convey materials through a motor, such as using a screw conveyor to convey or a screw to extrude a material container to extrude the materials in the material container from the material container. In this embodiment, if the material is a liquid, the material container can be made of an organic material and can be deformed under the extrusion of the driving device (such as a screw). For example, the material container can be a plastic water hose.

[0043] In other embodiments, the driving device can be a water pump motor for pumping materials from the material container.

[0044] The calibration data of the operation module is measured when the operation module is in a non-operation state. At this time, the top of the materials in the material container is stable and does not shake. The calibration data can be used to characterize the relationship between the operation parameters of the operation module (such as the operation parameters of the driving device) and the corresponding material discharge amount.

[0045] In one embodiment, the operation module being in a non-operation state can be that the operation module is in a stationary state. For example, the operation module is in a horizontal state or in a slightly inclined state. Of course, the non-operation state can also be other suitable states. For example, the operation module is in a state of slowly moving horizontally, etc., as long as the determination process of the calibration data is not affected by the jitter of the operation module (such as in the operation state), and it is ensured that the operation parameters of the operation module (such as the number of turns of the motor rotation) can be accurately associated with the corresponding material discharge amount.

[0046] 220: Determine the actual operation parameters of the operation module during the operation of the unmanned device.

[0047] Specifically, during the operation of the unmanned device, the controller of the unmanned device can determine the actual operation parameters of the operation module in real time. In one embodiment, the operation module will record and update the operation parameters in real time during operation. The controller can be communicatively connected to the operation module to directly obtain the operation parameters of the operation module. In another embodiment, additional sensors can be set up to monitor the operation process of the operation module, record the monitoring data, and the controller can determine the operation parameters of the operation module based on the monitoring data of the sensors.

[0048] 230: Determine the remaining material detection result according to the calibration data and the actual operation parameters.

[0049] Specifically, since the calibration data can characterize the relationship between the operation parameters of the operation module and the corresponding material discharge amount, the material consumption can be determined based on the calibration data and the actual operation parameters.

[0050] Subtracting the material consumption from the initial material amount of the operation module can determine the remaining material capacity of the operation module at this time. The remaining material capacity is the remaining material detection result.

[0051] Here, the initial material quantity is the amount of material initially loaded by the operation module. The initial material quantity can be determined according to the user's input or obtained based on the detection of sensors after the initial loading is completed. Since the operation module is still in a non-operating state when the initial loading is completed, the initial material quantity detected based on the sensors at this time is relatively accurate.

[0052] For example, a sensor (such as a Hall sensor) is placed in the material container. According to the shape of the material container, the sensor hardware board is designed to be penetrable to each measurement position of the material container. A permanent magnet is placed outside the sensor hardware board. The buoyancy or supporting force of the material is used to make the permanent magnet at the top of the material. According to the Hall effect, the voltage value output by the sensor hardware board can be detected. The material quantity (initial material quantity) can be determined according to the voltage value and the corresponding relationship between the voltage value and the material capacity.

[0053] The embodiment of the present application provides a method for detecting remaining materials. By determining the calibration data of the operation module when the operation module is in a non-operating state, determining the actual operation parameters of the operation module during the operation of the unmanned device, and determining the remaining material detection result based on the calibration data and the actual operation parameters, it is possible to avoid detecting the remaining materials according to the apparent position of the material during the operation of the unmanned device and being affected by the operation state of the unmanned device during the operation on the remaining material detection result. Thus, the accuracy of the remaining material detection result can be improved, and further the operation efficiency can be improved.

[0054] According to an embodiment of the present application, the unmanned device includes a drone, and the operation module includes a spraying module or a spreading module. When the material is liquid, the operation module includes a spraying module; when the material is solid particles, the operation module includes a spreading module.

[0055] When the material is liquid, the liquid level of the material is extremely susceptible to the shaking of the unmanned device itself. Especially during the operation, the unmanned device is prone to shaking, which in turn causes the liquid level of the material to shake back and forth and left and right, resulting in deviations in the detection results obtained based on the sensors. The embodiment of the present application can effectively avoid the influence of the liquid level shaking on the detection result by determining the remaining material detection result based on the calibration data and the actual operation parameters. Of course, the embodiment of the present application is also applicable to materials of solid particles to avoid the influence of the shaking of the top of the solid particles on the detection result.

[0056] According to an embodiment of the present application, the operation parameters include the rotation parameters of the drive motor in the operation module.

[0057] In an embodiment, the rotation parameter of the drive motor can be the number of turns of the motor rotation.

[0058] Specifically, the drive device in the operation module can include a motor, and the operation parameter of the operation module is the number of turns of the motor rotation. The actual number of turns of the motor rotation can be represented by an integer, a decimal, or a fraction.

[0059] The calibration data can represent the material discharge amount corresponding to one revolution of the motor. For example, if the calibration data is 50 ml / r, it means that the material discharged per revolution of the motor is 50 ml.

[0060] Optionally, the rotation angle of the motor can also be used as the operating parameter of the operation module, and the calibration data can represent the material discharge amount corresponding to a fixed rotation angle of the motor (such as 1 degree).

[0061] In this embodiment, by determining the remaining material detection result according to the number of revolutions of the motor, the influence of the shaking of the unmanned device during the operation on the remaining material detection result can be effectively avoided, thereby improving the accuracy of the remaining material detection result and further improving the operation efficiency.

[0062] Optionally, the rotation parameter of the driving motor can be the rotation speed of the motor or the rotation speed of the feeding device (such as a screw conveyor) driven by the motor. For example, when the material is solid particles and the feeding device is a screw conveyor, the remaining material detection result can be determined based on the rotation speed of the screw conveyor. In this embodiment, the correlation between the material discharge amount and the rotation speed of the screw conveyor can be determined in advance, and then the calibration data can be determined.

[0063] According to an embodiment of the present application, determining the calibration data of the operation module of the unmanned device in the non-operation state includes: receiving the calibration data from the mobile terminal.

[0064] Specifically, the calibration data can be stored in the mobile terminal. The unmanned device can be communicatively connected to the mobile terminal, and then obtain the calibration data from the mobile terminal. The mobile terminal can be a device such as a mobile phone or a tablet.

[0065] In an embodiment, the operation module can be independent of the unmanned device and can be installed on different unmanned devices. By storing the calibration data of the operation module in the mobile terminal, when the operation module is installed on any unmanned device, the calibration data can be directly obtained from the mobile terminal without performing the detection process of the calibration data.

[0066] In this embodiment, by storing the calibration data in the mobile terminal, it is possible to implement the detection process of the calibration data for a certain operation module only once. In this way, it is convenient for the unmanned device to obtain the calibration data when starting the operation, saving the computing cost. Of course, the calibration data stored in the mobile terminal can be updated according to specific periods as required. The specific period can be one day, one week, one month, etc. Or, the specific period can be the number of times the unmanned device completes the operation, such as once, twice, etc. Or, the specific period can also be the operation area completed by the unmanned device, such as 100 square meters, 200 square meters, etc. Since the performance of the same device may change at different times, updating the calibration data according to specific periods can improve the accuracy of the calibration data, and further improve the accuracy of the detection results. Further, when the unmanned device fails, the calibration data can be automatically updated, which can further ensure the accuracy of the calibration data.

[0067] In addition, by storing the calibration data in the mobile terminal, it is convenient for technicians to view the calibration data stored in the mobile terminal at any time, and timely judge whether the driving device (such as a motor) in the operation module is abnormal and the degree of abnormality according to the calibration data. For example, if the technician finds that the calibration data is too large or too small, it can be determined that the driving device in the operation module is abnormal, and at this time, the driving device in the operation equipment can be replaced in time.

[0068] According to an embodiment of the present application, determining the calibration data of the operation module of the unmanned device in the non-operation state includes: when the unmanned device is in a stationary state, determining the operation parameters corresponding to the operation module running for a preset time, and detecting the remaining material amount at the expiration of the preset time; based on the operation parameters corresponding to the operation module running for the preset time, the initial material amount of the operation module, and the remaining material amount, determining the calibration data.

[0069] Specifically, the detection process of the calibration data can be executed by the controller of the unmanned device. In order to make the operation module in a stable state, the calibration data can be detected when the unmanned device is in a stationary state, that is, the non-operation state is the stationary state.

[0070] After the initial loading of the operation module is completed, the controller can control the operation module to run for a preset time and obtain the operation parameters after the operation module runs for the preset time. For example, the controller can determine the number of turns of the motor when the operation module runs for the preset time according to the rotation speed of the motor, or directly obtain the number of turns of the motor from the operation module.

[0071] After the operation of the operation module ends at the preset time, the controller can obtain the remaining material amount in the material container of the operation module at this time. For example, the remaining material amount can be obtained based on the detection of a sensor. When detecting the remaining material amount using the sensor, it can be carried out when the top of the material (such as the liquid level of the material) is in a stable state, and at this time, the remaining material amount detected based on the sensor is relatively accurate. Similarly, the initial material amount can be obtained based on the detection of the sensor after the initial loading is completed, or determined according to the user's input.

[0072] The controller can determine the consumption amount of the material according to the difference between the initial material amount and the remaining material amount, and then determine the calibration data according to the ratio of the consumption amount of the material to the number of turns of the motor rotation.

[0073] In this embodiment, the calibration data is obtained in the stationary state before the operation of the unmanned device, and only the actual operation parameters of the operation module are detected during the operation of the unmanned device. Then, the remaining material detection result is determined according to the calibration data and the actual operation parameters. In this way, the remaining material detection process during the operation of the unmanned device can be simplified, and the accuracy of the remaining material detection result can be significantly improved.

[0074] According to an embodiment of the present application, determining the calibration data of the operation module of the unmanned device in the non-operation state includes: when the unmanned device is in a stationary state, determining the operation parameters corresponding to the operation module consuming a preset capacity of the material; based on the operation parameters corresponding to the operation module consuming a preset capacity of the material and the preset capacity, determining the calibration data.

[0075] Specifically, after the initial loading of the operation module is completed, the controller can control the operation module to operate to consume a preset capacity of the material. For example, the controller can determine the remaining material amount to be based on the difference between the initial material amount and the preset capacity, and obtain the actual remaining material amount in real time based on the detection of the sensor. When the actual remaining material amount meets the remaining material amount to be, the controller can control the operation module to stop operating.

[0076] The controller can obtain the operation parameters after the operation module consumes a preset capacity of the material. For example, the controller can directly obtain the number of turns of the motor rotation from the operation module, or determine the number of turns of the motor rotation according to the rotation time and rotation speed of the motor.

[0077] The controller can determine the calibration data according to the ratio of the preset capacity to the number of turns of the motor rotation.

[0078] In this embodiment, the calibration data is obtained in the stationary state before the operation of the unmanned device, and only the actual operation parameters of the operation module are detected during the operation of the unmanned device. Then, the remaining material detection result is determined according to the calibration data and the actual operation parameters. In this way, the remaining material detection process during the operation of the unmanned device can be simplified, and the accuracy of the remaining material detection result can be significantly improved.

[0079] According to an embodiment of the present application, the remaining material detection result includes the volume of the remaining material. Determining the remaining material detection result according to the calibration data and the actual operation parameters includes: determining the volume of the remaining material according to the calibration data, the actual operation parameters, and the initial material quantity.

[0080] Specifically, the unit of the calibration data can be ml / r (milliliters per revolution), and the actual operation parameter can be the number of revolutions actually rotated by the motor. The consumption of the material can be determined according to the product of the calibration data and the actual operation parameters, and the volume of the remaining material can be determined according to the difference between the initial material quantity and the consumption of the material.

[0081] This embodiment can determine the volume of the remaining material in real time, which is convenient for the controller to make other decisions according to the volume of the remaining material. For example, it can be determined whether to return for resupply according to the volume of the remaining material, or whether to perform operations in other areas according to the volume of the remaining material, and so on.

[0082] According to an embodiment of the present application, the remaining material detection result is that the unmanned device meets the resupply condition or does not meet the resupply condition. Determining the remaining material detection result according to the calibration data and the actual operation parameters includes: determining the operation parameter threshold of the operation module according to the calibration data and the initial material quantity; when the actual operation parameter is greater than or equal to the operation parameter threshold, determining that the remaining material detection result is that the unmanned device meets the resupply condition.

[0083] Specifically, the unit of the calibration data can be ml / r (milliliters per revolution), the actual operation parameter can be the number of revolutions actually rotated by the motor, and the operation parameter threshold of the operation module can be the number of revolutions threshold of the motor.

[0084] This embodiment can not calculate the specific volume of the remaining material, and the remaining material detection result is not a specific value. The remaining material detection result can be used as an instruction to trigger the unmanned device to return for resupply.

[0085] For example, the number of revolutions threshold of the motor can be determined according to the initial material quantity and the calibration data. By detecting the size of the number of revolutions actually rotated by the motor and the number of revolutions threshold in real time, the remaining material detection result can be determined. When the number of revolutions actually rotated by the motor is less than the number of revolutions threshold, it means that there is still enough remaining material at this time, and the remaining material detection result is that the resupply condition is not met, and the unmanned device can continue to operate. When the number of revolutions actually rotated by the motor is equal to or greater than the number of revolutions threshold, it means that there is no remaining material at this time, and the remaining material detection result is that the resupply condition is met, and the unmanned device can return for material resupply.

[0086] The operating parameter threshold can be the ratio of the initial material quantity to the calibration data, or the product of this ratio and a coefficient, where the coefficient can be a value greater than 0 and less than 1. By multiplying the ratio of the initial material quantity to the calibration data by the coefficient to obtain the operating parameter threshold, it is possible to prevent the unmanned device from still controlling the operation of the operation module after the material is exhausted, thereby avoiding the idling of the motor and saving energy consumption.

[0087] In this embodiment, it is possible to determine whether the unmanned device meets the replenishment condition only based on the actual operating parameters, which can simplify the calculation process.

[0088] Embodiment III

[0089] Figure 3 The figure shows a schematic flowchart of a remaining material detection method provided by another exemplary embodiment of the present application. Figure 3 The embodiment is Figure 2 an example of the embodiment. To avoid repetition, the same parts will not be described again. As Figure 3 shown, the remaining material detection method includes the following content.

[0090] 310: When the unmanned device is in a stationary state, determine the operating parameters corresponding to the operation of the operation module for a preset time, and detect the remaining material quantity when the preset time expires.

[0091] The preset time can be set according to actual needs. A sensor can be set in the material container of the operation module, and the remaining material quantity can be obtained based on the detection of the sensor.

[0092] 320: Based on the operating parameters corresponding to the operation of the operation module for a preset time, the initial material quantity during the calibration process of the operation module, and the remaining material quantity, determine the calibration data.

[0093] The initial material quantity during the calibration process can be obtained based on the detection of the sensor after the initial loading of the material container is completed, or determined according to the user's input. The operating parameter is the number of turns of the motor rotation. By dividing the difference between the initial material quantity during the calibration process and the remaining material quantity by the number of turns of the motor rotation, the calibration data can be determined.

[0094] 330: Determine the actual operating parameters of the operation module during the operation of the unmanned device.

[0095] 340: Determine the capacity of the remaining material according to the calibration data, the actual operating parameters, and the initial material quantity.

[0096] The initial material quantity in step 340 corresponds to the material loaded by the unmanned device before operation, and this material is used for operation. The initial material quantity during the calibration process in step 320 corresponds to the material loaded by the unmanned device before the calibration process, and this material is used for the calibration process to obtain the calibration data.

[0097] Embodiment IV

[0098] Figure 4 The figure shows a schematic flowchart of a control method for an unmanned device provided by an exemplary embodiment of the present application. Figure 4 This method can be executed by the controller of the unmanned device. As Figure 4 shown, the control method of the unmanned device includes the following content.

[0099] 410: Determine the remaining material detection result.

[0100] The remaining material detection result can be determined by using the above-mentioned remaining material detection method. To avoid repetition, it will not be elaborated here.

[0101] 420: According to the remaining material detection result, control the unmanned device to move to the supply station for replenishment.

[0102] When the remaining material detection result is the capacity of the remaining material, it can be determined whether to control the unmanned device to move to the supply station for replenishment according to the first threshold. For example, when the capacity of the remaining material is equal to or less than the first threshold, the unmanned device can be controlled to move to the supply station for replenishment. When the capacity of the remaining material is greater than the first threshold, the unmanned device can be controlled to continue working. The first threshold here can be set according to actual needs.

[0103] When the remaining material detection result is that the unmanned device meets the replenishment condition or does not meet the replenishment condition, it can be directly determined whether to control the unmanned device to move to the supply station for replenishment according to the remaining material detection result. For example, when the remaining material detection result is that the unmanned device meets the replenishment condition, the unmanned device can be controlled to move to the supply station for replenishment. When the remaining material detection result is that it does not meet the replenishment condition, the unmanned device can be controlled to continue working.

[0104] The embodiment of the present application provides a control method for an unmanned device. By determining the calibration data of the operation module when the operation module is in a non-operation state, determining the actual operation parameters of the operation module during the operation of the unmanned device, and determining the remaining material detection result based on the calibration data and the actual operation parameters, it is possible to avoid detecting the remaining material according to the apparent position of the material during the operation of the unmanned device, being affected by the operation state of the unmanned device during the operation process on the remaining material detection result, thereby improving the accuracy of the remaining material detection result, and further improving the operation efficiency.

[0105] Embodiment Five

[0106] Figure 5 The figure shows a schematic structural diagram of a remaining material detection device 500 provided by an exemplary embodiment of the present application. As Figure 5 shown, the remaining material detection device 500 includes: a first determination module 510, a second determination module 520, and a third determination module 530.

[0107] The first determination module 510 is configured to determine calibration data of the operation module of the unmanned device in a non-operating state, and the calibration data is used to characterize the relationship between the operating parameters of the operation module and the corresponding material discharge amount; the second determination module 520 is configured to determine the actual operating parameters of the operation module during the operation of the unmanned device; the third determination module 530 is configured to determine the remaining material detection result according to the calibration data and the actual operating parameters.

[0108] An embodiment of the present application provides a remaining material detection device. By determining the calibration data of the operation module when the operation module is in a non-operating state, determining the actual operating parameters of the operation module during the operation of the unmanned device, and determining the remaining material detection result based on the calibration data and the actual operating parameters, it is possible to avoid detecting the remaining material according to the apparent position of the material during the operation of the unmanned device, and being affected by the operation state during the operation of the unmanned device on the remaining material detection result. Thus, the accuracy of the remaining material detection result can be improved, and the operation efficiency can be further improved.

[0109] According to an embodiment of the present application, the first determination module 510 is configured to receive calibration data from a mobile terminal.

[0110] According to an embodiment of the present application, the first determination module 510 is configured to: when the unmanned device is in a stationary state, determine the operating parameters corresponding to the operation module running for a preset time, and detect the remaining material amount when the preset time expires; based on the operating parameters corresponding to the operation module running for a preset time, the initial material amount of the operation module, and the remaining material amount, determine the calibration data.

[0111] According to an embodiment of the present application, the first determination module 510 is configured to: when the unmanned device is in a stationary state, determine the operating parameters corresponding to the operation module consuming a preset capacity of material; based on the operating parameters corresponding to the operation module consuming a preset capacity of material and the preset capacity, determine the calibration data.

[0112] According to an embodiment of the present application, the remaining material detection result includes the capacity of the remaining material, and the third determination module 530 is configured to determine the capacity of the remaining material according to the calibration data, the actual operating parameters, and the initial material amount.

[0113] According to an embodiment of the present application, the remaining material detection result is that the unmanned device meets the replenishment condition or does not meet the replenishment condition, and the third determination module 530 is configured to: determine the operating parameter threshold of the operation module according to the calibration data and the initial material amount; when the actual operating parameter is greater than or equal to the operating parameter threshold, determine that the remaining material detection result is that the unmanned device meets the replenishment condition.

[0114] According to an embodiment of the present application, the unmanned device includes a drone, and the operation module includes a spraying module or a spreading module. When the material is liquid, the operation module includes a spraying module; when the material is solid particles, the operation module includes a spreading module.

[0115] According to an embodiment of the present application, the operating parameters include the rotation parameters of the drive motor in the operation module.

[0116] It should be understood that the operations and functions of the first determination module 510, the second determination module 520, and the third determination module 530 in the above embodiments can be referred to the description of the remaining material detection method provided in the above Figure 2 or Figure 3 embodiment. To avoid repetition, it will not be described herein again.

[0117] Embodiment Six

[0118] Figure 6 As shown, it is a schematic structural diagram of a control device 600 of an unmanned device provided by an exemplary embodiment of the present application. As Figure 6 shown, the control device 600 of the unmanned device includes: a remaining material detection device 610 and a control module 620.

[0119] The remaining material detection device 610 is used to determine the remaining material detection result; the control module 620 is used to control the unmanned device to move to a supply station for replenishment according to the remaining material detection result.

[0120] The specific structure and function of the remaining material detection device 610 can be referred to the above remaining material detection device 500.

[0121] The embodiment of the present application provides a control device for an unmanned device. By determining the calibration data of the operation module when the operation module is in a non-operating state, determining the actual operating parameters of the operation module during the operation of the unmanned device, and determining the remaining material detection result based on the calibration data and the actual operating parameters, it is possible to avoid detecting the remaining material according to the apparent position of the material during the operation of the unmanned device and being affected by the operation state of the unmanned device during the operation on the remaining material detection result. Thus, the accuracy of the remaining material detection result can be improved, and the operation efficiency can be further improved.

[0122] It should be understood that the operations and functions of the remaining material detection device 610 and the control module 620 in the above embodiments can be referred to the description of the control method of the unmanned device provided in the above Figure 4 embodiment. To avoid repetition, it will not be described herein again.

[0123] Embodiment Seven

[0124] Figure 7 As shown, it is a block diagram 700 of an unmanned device for performing a remaining material detection method provided by an exemplary embodiment of the present application.

[0125] Referring to Figure 7, the unmanned device 700 includes a processing component 710, which further includes one or more processors, and memory resources represented by a memory 720 for storing instructions executable by the processing component 710, such as application programs. The application programs stored in the memory 720 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 710 is configured to execute instructions to perform the above-mentioned surplus material detection method or the control method of the unmanned device. In one embodiment, the unmanned device may be a drone.

[0126] The unmanned device 700 may further include a power supply component configured to perform power management of the unmanned device 700, a wired or wireless network interface configured to connect the unmanned device 700 to a network, and an input / output (I / O) interface. The unmanned device 700 can be operated based on an operating system stored in the memory 720, such as Windows Server TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or the like.

[0127] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the above-mentioned unmanned device 700, enables the above-mentioned unmanned device 700 to execute a surplus material detection method or a control method of the unmanned device. The surplus material detection method includes: determining calibration data when the operation module of the unmanned device is in a non-operation state, and the calibration data is used to characterize the relationship between the operation parameters of the operation module and the corresponding material discharge amount; determining the actual operation parameters of the operation module during the operation of the unmanned device; and determining the surplus material detection result according to the calibration data and the actual operation parameters. The control method of the unmanned device includes: using the surplus material detection method provided in the above embodiment to determine the surplus material detection result; and controlling the unmanned device to move to a supply station for replenishment according to the surplus material detection result.

[0128] All the above optional technical solutions can be combined arbitrarily to form optional embodiments of the present application, which will not be elaborated one by one here.

[0129] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0130] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0131] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0132] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0134] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program verification codes.

[0135] It should be noted that in the description of the present application, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0136] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A method for detecting leftover materials, characterized in that, Including: Determine calibration data of an operation module of an unmanned device in a non - operating state, where the calibration data is used to characterize the relationship between the operating parameters of the operation module and the corresponding material discharge amount, and the operating parameters include the rotation parameters of a drive motor in the operation module; Determine the actual operating parameters of the operation module during the operation of the unmanned device; Determine a remaining material detection result according to the calibration data and the actual operating parameters.

2. The method for detecting leftover materials according to claim 1, wherein The determining the calibration data of the operation module of the unmanned device in the non - operating state includes: Receive the calibration data from a mobile terminal.

3. The method for detecting leftover materials according to claim 1, characterized in that The determining the calibration data of the operation module of the unmanned device in the non - operating state includes: When the unmanned device is in a stationary state, determine the operating parameters corresponding to the operation module running for a preset time, and detect the remaining material amount when the preset time expires; Based on the operating parameters corresponding to the operation module running for the preset time, the initial material amount of the operation module, and the remaining material amount, determine the calibration data.

4. The method for detecting remaining materials according to claim 1, wherein The determining the calibration data of the operation module of the unmanned device in the non - operating state includes: When the unmanned device is in a stationary state, determine the operating parameters corresponding to the operation module consuming a preset volume of material; Based on the operating parameters corresponding to the operation module consuming the preset volume of material and the preset volume, determine the calibration data.

5. The waste material detection method according to claim 1, wherein The remaining material detection result includes the volume of the remaining material. The determining the remaining material detection result according to the calibration data and the actual operating parameters includes: Determine the volume of the remaining material according to the calibration data, the actual operating parameters, and the initial material amount.

6. The waste material detection method according to claim 1, characterized in that The remaining material detection result is that the unmanned device meets the replenishment condition or does not meet the replenishment condition. The determining the remaining material detection result according to the calibration data and the actual operating parameters includes: Determine the operating parameter threshold of the operation module according to the calibration data and the initial material amount; When the actual operating parameter is greater than or equal to the operating parameter threshold, determine that the remaining material detection result is that the unmanned device meets the replenishment condition.

7. A control method for an unmanned device, characterized in that, Including: The remaining material detection method according to any one of claims 1 to 6; Control the unmanned device to move to a replenishment station for replenishment according to the remaining material detection result determined by the remaining material detection method.

8. A leftover material detection device, characterized in that, Including: A first determination module, configured to determine calibration data of an operation module of an unmanned device in a non - operating state, where the calibration data is used to characterize the relationship between the operating parameters of the operation module and the corresponding material discharge amount, and the operating parameters include the rotation parameters of a drive motor in the operation module; A second determination module, configured to determine the actual operating parameters of the operation module during the operation of the unmanned device; A third determination module, configured to determine a remaining material detection result according to the calibration data and the actual operating parameters.

9. An unmanned device, characterized in that, Including: A processor; A memory for storing instructions executable by the processor, wherein the processor is configured to execute the remaining material detection method according to any one of claims 1 to 6 or the control method of the unmanned device according to claim 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the remaining material detection method described in any one of claims 1 to 6 above or the control method of the unmanned device as described in claim 7.

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