Material shortage detection methods and devices, unmanned equipment

Abstract

This application provides a material shortage detection method and apparatus, and an unmanned device. The method includes: detecting whether a material bin is short of material using a radar device, wherein the detection surface of the radar device faces the discharge port of the material bin; the discharge port is equipped with a rotating feeding mechanism for discharging material, including: acquiring a first echo signal generated after the radar device emits a signal towards the discharge port; determining whether material exists in the rotating feeding mechanism based on the first echo signal; and determining that the material bin is in a material shortage state when there is no material in the rotating feeding mechanism. The technical solution of this application can improve the accuracy of material measurement.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, specifically to a material shortage detection method and device, and unmanned equipment. Background Technology

[0002] In the field of plant protection, the detection of remaining materials in the payload box carried by drones during plant protection operations is generally achieved by using weight sensors to detect remaining particulate matter.

[0003] However, because the drone's attitude changes during flight, and these changes cause the material in the hopper to shake, the final measurement accuracy is affected. Therefore, it is impossible to ensure that the drone can be controlled to return to base in time after the material has been spread. Summary of the Invention

[0004] In view of this, embodiments of this application provide a material shortage detection method and apparatus, and an unmanned device, which can improve the accuracy of material shortage measurement.

[0005] In a first aspect, embodiments of this application provide a material shortage detection method for detecting whether a material bin is short of material using a radar device, wherein the detection surface of the radar device faces the discharge port of the material bin; the discharge port is provided with a rotating feeding mechanism for discharging material, and the material shortage detection method includes: acquiring a first echo signal generated after the radar device emits a signal toward the discharge port; determining whether there is material in the rotating feeding mechanism based on the first echo signal; and determining that the material bin is in a material shortage state when there is no material in the rotating feeding mechanism.

[0006] In some embodiments, determining whether there is material in the rotating feeding mechanism based on the first echo signal includes: determining whether there is a Doppler effect based on the first echo signal; and determining that there is no material in the rotating feeding mechanism when a Doppler effect is present.

[0007] In some embodiments, determining whether there is material in the rotating feeding mechanism based on the first echo signal further includes: when there is no Doppler effect, acquiring a second echo signal within a preset time period using a radar device; determining whether the material level in the hopper has changed within the preset time period based on the second echo signal; and when the material level remains unchanged within the preset time period, determining whether there is material in the rotating feeding mechanism based on the current signal of the spreading mechanism.

[0008] In some embodiments, determining whether there is material in the rotating feeding mechanism based on the current signal of the spreading mechanism includes: determining that there is no material in the rotating feeding mechanism when the current signal is within a preset range.

[0009] In some embodiments, determining whether a Doppler effect exists based on the first echo signal includes: comparing the operating frequency variation curve of the first echo signal with a preset frequency variation curve, wherein the preset frequency curve is obtained based on the echo signal reflected by the rotating feeding mechanism when no material is present during operation; and determining that the first echo signal has a Doppler effect when the Euclidean distance between the operating frequency variation curve and the preset frequency variation curve is less than or equal to a preset threshold.

[0010] In some embodiments, determining whether there is material in the rotary feeding mechanism based on the first echo signal further includes: determining that there is material in the rotary feeding mechanism when the material level changes within the preset time period.

[0011] Secondly, a material shortage detection device is provided, which is used to detect whether a material bin is short of material by means of a radar device, wherein the detection surface of the radar device faces the discharge port of the material bin; the discharge port is provided with a rotating feeding mechanism for discharging material, and the material shortage detection device includes: an acquisition module, used to acquire a first echo signal generated after the radar device emits a signal toward the discharge port; and a determination module, used to determine whether there is material in the rotating feeding mechanism based on the first echo signal, and to determine that the material bin is in a material shortage state when there is no material in the rotating feeding mechanism.

[0012] Thirdly, a computer-readable storage medium is provided, characterized in that the storage medium stores a computer program for executing the material shortage detection method described in the first aspect.

[0013] Fourthly, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to perform the material shortage detection method described in the first aspect.

[0014] Fifthly, an unmanned device is provided, comprising: a hopper for holding materials to be spread; a rotating feeding mechanism disposed at the outlet of the hopper for conveying the materials; a radar device for transmitting millimeter waves to the outlet and receiving a first echo signal reflected back; and a controller for determining whether the hopper is in a material shortage state based on the first echo signal using the aforementioned material shortage detection method.

[0015] According to the technical solution of this application embodiment, by acquiring the first echo signal generated after the radar device transmits a signal toward the discharge port; determining whether there is material in the rotating feeding mechanism based on the first echo signal; when there is no material in the rotating feeding mechanism, determining that the hopper is in a material shortage state, thereby avoiding the influence of the working state of the unmanned equipment on the material shortage detection result when the material level is detected by the material level sensor during the operation of the unmanned equipment, thereby improving the accuracy of the material shortage detection result and thus improving the working efficiency. Attached Figure Description

[0016] Figure 1 The diagram shown is a schematic representation of the system architecture of a material shortage detection system provided in an exemplary embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating a material shortage detection method provided in an exemplary embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the structure of a feeding device according to an example of this application.

[0019] Figure 4 This is a flowchart illustrating a material shortage detection method according to an example of this application.

[0020] Figure 5 This is a schematic diagram of the structure of a material shortage detection device provided in an exemplary embodiment of this application.

[0021] Figure 6 This is a block diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Because unmanned equipment can industrialize operational processes and improve efficiency, it is widely used in agriculture, industry, and other fields. For example, in agriculture, unmanned equipment can be used for processes such as sowing, pesticide spraying, and fertilizer application.

[0024] To further improve automation and efficiency, unmanned equipment (UAVs) detects whether their material containers are low on material during operation. This detection guides further operational control; for example, the UAV can be controlled to return or be refilled based on whether the material container is empty or low on material. Low-material detection is typically achieved through level sensors.

[0025] However, using level sensors for detection is prone to inaccurate results due to the influence of the unmanned equipment's operating status, leading to incorrect decisions. This is because the material in the container shifts during operation, affecting sensor readings and causing deviations or errors. For example, if a material shortage is misjudged as a material presence, the unmanned equipment cannot return to its original position in time, directly impacting overall operational efficiency.

[0026] In summary, using sensors to detect material shortages during the operation of unmanned equipment can easily lead to misjudgments.

[0027] The Doppler effect refers to the change in the wavelength of radiation emitted by an object due to the relative motion between the wave source and the observer. In front of a moving wave source, the wave is compressed, resulting in a shorter wavelength and a higher frequency (blue shift); behind a moving wave source, the opposite effect occurs: the wavelength becomes longer and the frequency becomes lower (red shift). The higher the speed of the wave source, the greater the effect. The degree of red (or blue) shift indicates the speed of the wave source in the direction of observation. The received frequency increases as the wave source moves towards the observer and decreases as the wave source moves away from the observer.

[0028] Figure 1 The diagram shown is a schematic representation of the system architecture of a material shortage detection system 100 provided in an exemplary embodiment of this application, illustrating an application scenario for detecting material shortages in the operation module of an unmanned device. The material shortage detection system 100 includes an unmanned device 110 and an operation module 120.

[0029] The unmanned equipment 110 can be an unmanned vehicle, drone, or other similar device, and the operation module 120 can be a spreading module, etc. The operation module 120 can be mounted on the unmanned equipment 110, or the operation module 120 can be integrated into the unmanned equipment 110. During operation, the unmanned equipment 110 can detect the presence of the Doppler effect in the echo signal of the rotating device (e.g., auger) inside the material bin to determine if the material bin is short of material. Specific methods for detecting material shortages are described below.

[0030] Computer device 130 can communicate with unmanned device 110. Computer device 130 can be a mobile phone, tablet, laptop or other device.

[0031] It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited thereto. Rather, the embodiments of this application can be applied to any applicable scenario.

[0032] Figure 2 This is a flowchart illustrating a material shortage detection method provided in an exemplary embodiment of this application. Figure 2 The method is executed by a computing device, such as the controller of an unmanned device. Figure 2 As shown, the material shortage detection method includes the following:

[0033] This material shortage detection method can be used to detect whether a material bin is short of material using radar equipment, wherein the detection surface of the radar equipment faces the discharge port of the material bin; the discharge port is equipped with a rotating feeding mechanism for discharging material.

[0034] 210: Obtain the first echo signal generated after the radar device transmits a signal toward the discharge port.

[0035] During the operation of the unmanned equipment, the first echo signal of the rotating device installed at the bottom of the material box of the unmanned equipment is detected.

[0036] Specifically, unmanned equipment can be unmanned vehicles, drones, etc. The unmanned equipment may be equipped with an operation module, which can be detachable or non-detachable. The operation module can be used for spreading operations, such as sowing crops or spreading fertilizer. The feed hopper can be a medicine tank or a seeding tank.

[0037] The working module may include a hopper (or material container) and a rotating feeding mechanism (or drive device) for discharging the material from the hopper to realize the working process of the working module.

[0038] The rotary feeding mechanism can be a conveying mechanism such as an auger, plunger, or screw. Alternatively, it can be a device specifically designed to rotate with an auger or similar equipment for measuring the first echo signal. In one embodiment, the rotary feeding mechanism can convey material via a motor, such as by using an auger or a screw to expel material from a material container. In other embodiments, the rotary feeding mechanism can be the shaft of a pump-type motor used to extract material from a material container.

[0039] Echo signals, also known as reflected waves, can be any form of wave, such as light waves, or radar waves (e.g., millimeter radar waves).

[0040] 220, Based on the first echo signal, determine whether there is material in the rotating feeding mechanism.

[0041] 220. When there is no material in the rotating feeding mechanism, it is determined that the material box is in a material shortage state.

[0042] Specifically, a radar sensor can be installed on the top of the material bin. Taking millimeter-wave radar as an example, the sensor can be used to detect the status of the feeding mechanism to determine if there is a shortage of material. For instance, during actual seeding by an aircraft, the millimeter-wave radar sensor will detect in real time whether the sluice gate reflects radar waves to measure the Doppler effect. If a Doppler effect is detected, a shortage of material can be determined.

[0043] When there is material in the auger, the material will cover the auger, and the result based on the Doppler effect is that the relative motion of the auger cannot be detected. Therefore, it can be assumed that the hopper has material at this time. However, when there is no material in the auger, the relative motion of the auger can be detected based on the Doppler effect. Therefore, it can be assumed that the hopper is short of material at this time.

[0044] This application provides a material shortage detection method. It acquires the first echo signal generated after the radar device emits a signal towards the discharge port; determines whether there is material in the rotating feeding mechanism based on the first echo signal; and determines that the hopper is in a material shortage state when there is no material in the rotating feeding mechanism. This avoids the influence of the unmanned equipment's operating status on the material shortage detection result when the material level is detected by a level sensor during unmanned equipment operation, thereby improving the accuracy of the material shortage detection result and ultimately increasing operational efficiency.

[0045] In some embodiments, determining whether there is material in the rotating feeding mechanism based on the first echo signal includes: determining whether there is a Doppler effect based on the first echo signal; and determining that there is no material in the rotating feeding mechanism when a Doppler effect is present.

[0046] In some embodiments, the outlet of the rotary feeding mechanism is provided with a spreading mechanism; the step of determining whether there is material in the rotary feeding mechanism based on the first echo signal further includes: when there is no Doppler effect, acquiring a second echo signal within a preset time period through a radar device; determining whether the material level in the hopper has changed within the preset time period based on the second echo signal; and when the material level remains unchanged within the preset time period, determining whether there is material in the rotary feeding mechanism based on the current signal of the spreading mechanism.

[0047] In some embodiments, determining whether there is material in the rotating feeding mechanism based on the current signal of the spreading mechanism includes: determining that there is no material in the rotating feeding mechanism when the current signal is within a preset range.

[0048] In some embodiments, determining whether there is material in the rotary feeding mechanism based on the first echo signal further includes: determining that there is material in the rotary feeding mechanism when the material level changes within the preset time period.

[0049] For example, if the material level is constantly changing, it is considered that there is material; if the material level remains unchanged within a preset time period, it is considered that there is no material.

[0050] To further improve the accuracy of material shortage detection, the radar echo signal and the current of the spreading mechanism can be combined to determine whether there is a material shortage. Because materials such as seeds vary—for example, some seeds, like grass seeds or long, slender seeds such as sprouted rice, tend to fill the feed hopper, causing the radar sensor to fail to detect the Doppler effect, even though the area above the feed hopper is actually empty—the historical average current of the spreading mechanism can be used to assess whether there is a material shortage.

[0051] In some embodiments, determining whether the material bin is short of material based on the current of the spreading mechanism of the material bin includes: detecting the current of the spreading mechanism when the material level in the material bin remains unchanged for a preset threshold time; and determining that the material bin is short of material when the current is within a preset range, wherein the preset range is the current range when there is no material on the spreading mechanism.

[0052] Specifically, during flight operations, the current of the seeding mechanism during non-operational periods and during operation is collected. Since the seeding mechanism acts as a dispersing device, there is a significant difference between the current during operation and the current during non-operational periods. Furthermore, in addition to detecting object movement, radar sensors can also detect the distance to objects in a specific direction. Therefore, when the radar sensor cannot detect the Doppler effect and the radar measures a constant material level, the current of the seeding mechanism is used for judgment. If the current of the seeding mechanism is within the range of the non-operational period, it can be determined that the container is empty at this time.

[0053] Since the current analysis of the spreading mechanism can be used to further confirm whether the material bin is short of material when the radar sensor is blocked, the detection result of material shortage is more reliable.

[0054] In some embodiments, determining whether a Doppler effect exists based on the first echo signal includes: comparing the operating frequency variation curve of the first echo signal with a preset frequency variation curve, wherein the preset frequency curve is obtained based on the echo signal reflected by the rotating feeding mechanism when no material is present during operation; and determining that the first echo signal has a Doppler effect when the Euclidean distance between the operating frequency variation curve and the preset frequency variation curve is less than or equal to a preset threshold.

[0055] According to embodiments of this application, by learning from historical frequency variation data, it is possible to more accurately determine whether the echo signal exhibits the Doppler effect.

[0056] In some embodiments, radar sensors are used to detect radar waves reflected by the rotating device.

[0057] In some embodiments, the radar sensor is a millimeter-wave radar sensor.

[0058] In some embodiments, the radar sensor is positioned inside the hopper and at a distance greater than a preset threshold from the rotating device, or the radar sensor is positioned on top of the hopper.

[0059] By placing the radar sensor inside the hopper and at a distance greater than a preset threshold or the top of the hopper from the rotating equipment, the radar sensor is less likely to be blocked by materials, thus avoiding false judgments.

[0060] In some embodiments, the unmanned device is a drone, the feed hopper is a seeding hopper, and the rotating device is an auger.

[0061] Figure 3 This is a schematic diagram of the structure of a feeding device 10 according to an example of this application. For example... Figure 3 As shown, in this example, the rotating material conveying mechanism can be an auger 12, and the spreading mechanism 13 can be a powered spinning disc 13; the spreading device 10 includes a material box 11, an auger 12, a spinning disc 13, a radar 14, and a controller 15.

[0062] The auger 12 is installed inside the hopper 11 and located at the bottom of the hopper 11. The auger 12 is provided with spiral blades 121. When the feeding device 10 is running, the spiral blades 121 of the auger 12 rotate spirally, thereby conveying the material 20, such as seeds, in the hopper 11 to the outside of the hopper 11.

[0063] The sling plate 13 is located outside the material bin 11. When the feeding device 10 is running, the sling plate 13 receives the material 20 conveyed from the material bin 11 by the auger 12, and as the sling plate 13 rotates, the sling plate 13 throws out the material 20 that is sprinkled on the sling plate 13, thereby achieving uniform spreading of the material 20.

[0064] Radar 14 is disposed on top of the material bin 11. Radar 14 is configured to emit detection waves toward the bottom of the material bin 11 and receive the echo signals reflected back from the bottom of the material bin 11. As a non-limiting example, radar 14 can be a millimeter-wave radar. The feeding device 10 may include only one radar 14 or multiple radars 14. When the feeding device 10 includes multiple radars 14, the detection results of the multiple radars 14 can be weighted and averaged to improve the accuracy of the detection results.

[0065] The controller 15 is configured to determine the remaining amount of material 20 in the hopper 11 based on the detection results of the radar 14 and the current change of the swivel disc 13.

[0066] Figure 4 This is a flowchart illustrating a material shortage detection method 400 according to an example of this application. The material shortage detection method 400 includes steps 410 to 460. The material shortage detection method 400 can be applied to... Figure 3 The feeding device 10 shown is used to determine whether the material in the hopper 11 of the feeding device 10 has been used up.

[0067] The following is combined Figure 3 and Figure 4 Examples of this application are described in detail.

[0068] In step 410, a probe wave is transmitted and an echo signal is received.

[0069] For example, radar 14 can emit a probe wave toward the bottom of hopper 11 and receive the echo signal from auger 12 located at the bottom of hopper 11.

[0070] In step 420, it is determined whether the echo signal has a Doppler effect. If the echo signal has a Doppler effect, step 450 is executed; if the echo signal does not have a Doppler effect, step 430 is executed.

[0071] As a non-limiting example, the controller 15 can compare the operating frequency variation curve of the echo signal with a preset frequency variation curve, where the preset frequency curve is the frequency variation curve of the test echo signal detected when the auger is working when the hopper is low on material. If the Euclidean distance between the operating frequency variation curve of the echo signal and the preset frequency variation curve is less than or equal to a preset threshold, it is determined that the echo signal exhibits a Doppler effect. If the Euclidean distance between the operating frequency variation curve of the echo signal and the preset frequency variation curve is greater than the preset threshold, it is determined that the echo signal does not exhibit a Doppler effect.

[0072] In step 430, it is determined whether the material level in the hopper 11 remains unchanged for a preset threshold. If the material level remains unchanged for a time that reaches (or exceeds) the preset threshold, then step 440 is executed. If the material level remains unchanged for a time that does not reach (or is less than) the preset threshold, then step 460 is executed.

[0073] In step 440, it is determined whether the current of the slinger 13 is within a preset range. If the current of the slinger 13 is within the preset range, step 450 is executed; if the current of the slinger 13 is not within the preset range, step 460 is executed. Here, the preset range is the current range when there is no material on the slinger 13.

[0074] In step 450, it is determined that the hopper is short of material.

[0075] In step 460, it is confirmed that the hopper is not short of material.

[0076] Figure 5 This is a schematic diagram of the structure of a material shortage detection device 500 provided in an exemplary embodiment of this application. Figure 5 As shown, the material shortage detection device 500 includes a detection module 510 and a determination module 520.

[0077] The material shortage detection device 500 is used to detect whether the material bin is short of material by means of radar equipment. The detection surface of the radar equipment faces the material bin's outlet. The material outlet is provided with a rotating feeding mechanism for discharging material, and the outlet of the rotating feeding mechanism is provided with a spreading mechanism.

[0078] The material shortage detection device 500 includes: an acquisition module 510, used to acquire the first echo signal generated after the radar device transmits a signal toward the discharge port; and a determination module 520, used to determine whether there is material in the rotating feeding mechanism based on the first echo signal, and to determine that the material box is in a material shortage state when there is no material in the rotating feeding mechanism.

[0079] This application provides a material shortage detection device. It acquires the first echo signal generated after the radar device emits a signal towards the discharge port; determines whether there is material in the rotating feeding mechanism based on the first echo signal; and determines that the hopper is in a material shortage state when there is no material in the rotating feeding mechanism. This avoids the influence of the unmanned equipment's operating status on the material shortage detection result during operation, which is affected by the material level sensor's detection of the material level. This improves the accuracy of the material shortage detection result and thus increases operational efficiency.

[0080] In some embodiments, the determining module 520 is used to determine whether a Doppler effect exists based on the first echo signal; when a Doppler effect exists, it is determined that there is no material in the rotating feeding mechanism.

[0081] In some embodiments, the determining module 520 is further configured to acquire a second echo signal within a preset time period via a radar device when the Doppler effect is absent; determine whether the material level of the hopper has changed within the preset time period based on the second echo signal; and determine whether there is material in the rotating feeding mechanism based on the current signal of the spreading mechanism when the material level remains unchanged within the preset time period.

[0082] In some embodiments, the determining module 520 is used to determine that there is no material in the rotating feeding mechanism when the current signal is within a preset range.

[0083] In some embodiments, the determining module 520 is used to compare the operating frequency variation curve of the first echo signal with a preset frequency variation curve, wherein the preset frequency curve is obtained based on the echo signal reflected by the rotating feeding mechanism when no material is present during operation; when the Euclidean distance between the operating frequency variation curve and the preset frequency variation curve is less than or equal to a preset threshold, it is determined that the first echo signal has a Doppler effect.

[0084] In some embodiments, the determining module 520 is further configured to determine that there is material in the rotating feeding mechanism when the material level changes within the preset time period.

[0085] The radar sensor is a millimeter-wave radar sensor.

[0086] In some embodiments, the radar sensor is positioned inside the hopper and at a distance greater than a preset threshold from the rotating device, or the radar sensor is positioned on top of the hopper.

[0087] In some embodiments, the unmanned device is a drone, the hopper is a spreading hopper, and the rotating device is an auger.

[0088] It should be understood that the specific working process and functions of the acquisition module 510 and the determination module 520 in the above embodiments can be referred to the above. Figures 1 to 3 The description of the material shortage detection method provided in the embodiments will not be repeated here to avoid repetition.

[0089] An embodiment of this application also provides an unmanned device, including: a hopper for holding materials to be distributed; an auger disposed at the bottom of the hopper for conveying the materials; a millimeter-wave radar sensor for emitting millimeter waves toward the location of the auger and detecting the echo signal reflected back by the auger; and a controller for determining that the hopper is short of materials when the echo signal exhibits a Doppler effect.

[0090] Figure 6 This is a block diagram of an electronic device 600 provided in an exemplary embodiment of this application.

[0091] Reference Figure 6 The electronic device 600 includes a processing component 610, which further includes one or more processors, and memory resources represented by memory 620 for storing instructions, such as application programs, that can be executed by the processing component 610. The application programs stored in memory 620 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 610 is configured to execute instructions to perform the aforementioned shortage detection method.

[0092] Electronic device 600 may also include a power supply component configured to perform power management of electronic device 600, a wired or wireless network interface configured to connect electronic device 600 to a network, and an input / output (I / O) interface. Electronic device 600 can be operated based on an operating system stored in memory 620, such as Windows Server. TM Mac OSX TM Unix TM Linux TM FreeBSD TM Or similar.

[0093] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device 600, enables the electronic device 600 to perform a material shortage detection method, comprising: detecting the echo signal of a rotating device located at the bottom of the material bin of the unmanned equipment during operation; and determining that the material bin is short of material when the echo signal exhibits a Doppler effect.

[0094] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of this application, and will not be described in detail here.

[0095] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0096] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0098] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0100] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the 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 cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program verification codes, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0101] It should be noted that in the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0102] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for detecting material shortage, characterized in that, Used to detect whether the hopper is low on material using radar equipment, wherein the detection surface of the radar equipment faces the discharge port of the hopper; The discharge port is equipped with a rotary feeding mechanism for discharging materials. The rotary feeding mechanism is located at the bottom of the material box and includes: Acquire the first echo signal generated after the radar device transmits a signal toward the discharge port; The presence of material in the rotary feeding mechanism is determined based on the first echo signal. When there is no material in the rotating feeding mechanism, it is determined that the hopper is in a material shortage state; The step of determining whether there is material in the rotary feeding mechanism based on the first echo signal includes: Determine whether the Doppler effect exists based on the first echo signal; When the Doppler effect is present, it is determined that there is no material in the rotating feeding mechanism.

2. The material shortage detection method according to claim 1, characterized in that, The outlet of the rotary feeding mechanism is equipped with a spreading mechanism; the step of determining whether there is material in the rotary feeding mechanism based on the first echo signal further includes: When the Doppler effect is absent, the second echo signal within a preset time period is acquired using radar equipment; Based on the second echo signal, determine whether the material level in the hopper has changed within the preset time period; When the material level remains unchanged within the preset time period, the presence of material in the rotating feeding mechanism is determined based on the current signal of the spreading mechanism.

3. The material shortage detection method according to claim 2, characterized in that, The step of determining whether there is material in the rotating feeding mechanism based on the current signal of the spreading mechanism includes: When the current signal is within a preset range, it is determined that there is no material in the rotating feeding mechanism.

4. The material shortage detection method according to claim 1, characterized in that, The determination of whether the Doppler effect exists based on the first echo signal includes: The operating frequency variation curve of the first echo signal is compared with the preset frequency variation curve, wherein the preset frequency curve is obtained based on the echo signal reflected by the rotating feeding mechanism when there is no material. When the Euclidean distance between the operating frequency variation curve and the preset frequency variation curve is less than or equal to a preset threshold, it is determined that the first echo signal exhibits a Doppler effect.

5. A material shortage detection device, characterized in that, This device is used to detect whether a hopper is low on material using radar equipment. The hopper is used in unmanned equipment, and the detection surface of the radar equipment faces the outlet of the hopper. The discharge port is equipped with a rotating feeding mechanism for discharging materials. The rotating feeding mechanism is located at the bottom of the material box. The material shortage detection device includes: The acquisition module is used to acquire the first echo signal generated after the radar device transmits a signal toward the discharge port; The determination module is used to determine whether there is material in the rotary feeding mechanism based on the first echo signal, and to determine that the material box is in a material shortage state when there is no material in the rotary feeding mechanism; The step of determining whether there is material in the rotary feeding mechanism based on the first echo signal includes: Determine whether the Doppler effect exists based on the first echo signal; When the Doppler effect is present, it is determined that there is no material in the rotating feeding mechanism.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for executing the material shortage detection method according to any one of claims 1 to 4.

7. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions. The processor is used to execute the material shortage detection method according to any one of claims 1 to 4.

8. An unmanned device, characterized in that, include: A material bin is used to hold the material to be spread. A rotating feeding mechanism is installed at the discharge port of the material box to convey the material; A radar device is used to transmit millimeter waves toward the discharge port and receive the first echo signal reflected back. A controller is configured to determine whether the hopper is in a material shortage state based on the first echo signal using the method described in any one of claims 1 to 4.

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