Broadcasting operation method for strip-shaped area, plant protection equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, discloses a broadcast sowing operation method for a strip-shaped area, plant protection equipment and a storage medium, and aims at solving the problems that in the prior art, when a fixed sowing width is used for operating the strip-shaped area, the boundary of a land parcel is exceeded, and coverage is incomplete. The method comprises the following steps: acquiring boundary information of a target strip-shaped region; an operation route of the target strip-shaped area is planned according to the boundary information, and the unmanned equipment is controlled to move along the operation route; and controlling the unmanned equipment to move along the operation route, and controlling the unmanned equipment to perform broadcasting operation in the broadcasting width corresponding to the waypoint in the moving process.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a strip-shaped area spreading method, plant protection equipment and storage medium. Background Art

[0002] In the field of modern agricultural technology, broadcasting is an important part of agricultural operations. In order to improve operation efficiency and ensure personnel safety, more and more users are using broadcasting equipment such as aircraft and drones to automatically perform broadcasting operations. The accuracy and coverage of operation route planning are the key to improving operation efficiency.

[0003] Especially for seeding operations in strip areas such as tea fields and terraces, since these strip areas are not of equal width, when a fixed seeding width is set for the drone to fly along the center line of the area, the seeding may exceed the boundary of the operating area or fail to fully cover the area. Summary of the invention

[0004] The present application provides a strip area spreading operation method, plant protection equipment and storage medium, which are used to solve the problem of exceeding the boundary of the plot or incomplete coverage when using a fixed sowing width to operate on the strip area in the prior art.

[0005] A first aspect of the present application provides a method for sowing operations in a strip area, which is applied to unmanned equipment, and the method includes: obtaining boundary information of a target strip area, wherein the target strip area is an operation area of ​​unequal width, and the target strip area includes two target boundaries extending along its length direction; planning an operation route of the target strip area according to the boundary information, wherein the operation route is located between the two target boundaries, and the operation route includes a first waypoint, and the sowing width corresponding to the first waypoint matches the width of the target strip area corresponding to the first waypoint, and the first waypoint is any waypoint in a set of waypoints included in the operation route; controlling the unmanned equipment to move along the operation route, and controlling the unmanned equipment to perform sowing operations with the sowing width corresponding to the waypoint during the movement.

[0006] Optionally, the unmanned equipment is provided with a spreading device, which includes a spinner and a motor, and the spinner can be driven by the motor to swing back and forth following the forward and reverse rotation of the motor to spread the material; the control of the unmanned equipment to perform spreading operations with a sowing width corresponding to the waypoint where the unmanned equipment is located during movement includes: converting the sowing width corresponding to the waypoint where the unmanned equipment is located during movement into a swing angle range of the spinner, and controlling the spinner to move back and forth within the swing angle range to spread the material.

[0007] Optionally, after controlling the spinning disc to move back and forth within the swing angle range, it also includes: judging whether the unmanned equipment meets the conditions for adjusting the sowing width; if the conditions for adjusting the sowing width are met, determining the width corresponding to the new position information of the unmanned equipment, and adjusting the swing angle range based on the corresponding width; if the conditions for adjusting the sowing width are not met, controlling the spinning disc to maintain operation within the swing angle range.

[0008] Optionally, the determination of whether the unmanned equipment meets the conditions for adjusting the sowing width includes: identifying whether the position information at the current moment and the position information at the previous moment are located in the same operating range, the previous moment being the moment of adjusting the swing angle range of the spinning disc; if they are located in the same operating range, determining to readjust the sowing width of the drone; if they are not located in the same operating range, determining not to adjust the sowing width of the drone.

[0009] Optionally, the width of the target strip area is smaller than the maximum broadcast width of the unmanned equipment.

[0010] Optionally, obtaining the boundary information of the target strip area includes: photographing a map of the target strip area, and extracting two target boundaries extending along the length direction of the map as the boundary information of the target strip area.

[0011] Optionally, planning the operating route of the target strip area according to the boundary information includes: selecting multiple pairs of boundary points from two target boundaries extending along their length directions, and extracting the midpoint of the connecting line between each pair of boundary points, wherein each pair of boundary points includes two boundary points, and the two boundary points are not located on the same target boundary; connecting multiple midpoints to obtain the operating route of the target strip area; determining the width of each sampling waypoint on the operating route, and configuring the corresponding sowing width to obtain the operating route.

[0012] Optionally, the method of selecting multiple pairs of boundary points from two target boundaries extending along their length directions and extracting the midpoint of the line between each pair of boundary points includes: sampling the boundary points of the two target boundaries at preset proportional intervals, and connecting two boundary points at the same proportional positions in the two target boundaries; and extracting the midpoint of the line connecting the two boundary points.

[0013] Optionally, determining the width of each sampling waypoint on the operating route and configuring the corresponding sowing width to obtain the operating route includes: drawing a perpendicular line to the tangent of each sampling waypoint on the operating route; measuring the length of the perpendicular line between two target boundaries as the width of the target strip area; configuring the sowing width corresponding to each width to obtain the operating route of the target strip area.

[0014] A second aspect of the present application provides a plant protection device, which includes a mobile platform, a spreading device, a memory and at least one processor, wherein instructions are stored in the memory; the spreading device is arranged on the mobile platform, and the at least one processor calls the instructions in the memory so that the spreading device executes the strip area spreading operation method provided above.

[0015] A third aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the strip area spreading method provided above.

[0016] In the technical solution provided by the present application, after determining the operation route of the target strip area, the sowing operation is performed based on the sowing width corresponding to each waypoint in the operation route. In this way, the sowing width of the unmanned equipment is adaptively adjusted, and the coverage rate of the sowing operation in the strip area is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a first embodiment of the strip-shaped area spreading operation method in the present application;

[0018] Figure 2 This is a schematic diagram of the planning of the strip area in this application;

[0019] Figure 3 A schematic diagram of a second embodiment of the strip-shaped area spreading method in the present application;

[0020] Figure 4 A schematic diagram of a third embodiment of the strip-shaped area spreading method in the present application;

[0021] Figure 5 This is a schematic diagram of an embodiment of the plant protection equipment in this application. DETAILED DESCRIPTION

[0022] The present application provides a strip-shaped area spreading operation method, plant protection equipment and storage medium, which are used to obtain the boundary information of the strip-shaped area in advance when performing spreading operations on the strip-shaped area, plan the operation route and the width of each position on the operation route, configure the corresponding sowing width based on the width, and adjust the unmanned equipment to operate based on the configured sowing width, so as to realize adaptive adjustment of the sowing width according to the operation area and improve the coverage rate of the spreading operation.

[0023] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] It is understandable that the execution subject of the present invention can be a sowing device, wherein the sowing width of the sowing device is variable, and can also be a mobile device equipped with a sowing device, such as a drone, an unmanned vehicle, etc., which is not specifically limited here, as long as it is a device equipped with the sowing device on a movable platform. In the embodiment of the present invention, a drone is the execution subject, and the drone is equipped with a sowing device. The drone is in communication connection with the sowing device, and the sowing device can perform the sowing operation based on the command of the controller on the drone.

[0025] For ease of understanding, the specific process of the embodiment of the present application is described below. Figure 1 In this embodiment, an embodiment of the strip area sowing operation method includes:

[0026] 110. Obtain boundary information of the target strip area.

[0027] In this embodiment, the target strip area refers to an operating area of ​​unequal width, and the target strip area includes two target boundaries extending along its length direction; the target strip area can be understood as a complete plot of land, or it can be understood as a planting belt in the plot of land, and the widths of various positions on the planting belt are not all equal.

[0028] Map information of the target strip area is drawn by manual input or using tools, and then boundary information is extracted from the map information through contour recognition technology or algorithm. The boundary information here at least includes information such as the location, direction and length of the boundary.

[0029] 120. Plan the operation route of the target strip area based on the boundary information.

[0030] In this embodiment, an operating route of the target strip area is planned by the position of the boundary in the boundary information, the operating route is located between the two target boundaries, the operating route includes a first waypoint, the sowing width corresponding to the first waypoint matches the width of the target strip area corresponding to the first waypoint, and the first waypoint is any waypoint in the waypoint set included in the operating route.

[0031] It is understandable that each boundary of the target strip area is extracted from the boundary information, and according to the principle of planning the operation route between two pairs of edges, two boundaries that meet the planning requirements are selected from the boundary information as the target boundaries, and then a center line with equal distances to the two target boundaries is calculated based on the two target boundaries, and the center line is used as the operation route. It should be noted that the planning requirement is the two longest pairs of edges.

[0032] 130. Control the unmanned equipment to move along the operation route, and control the unmanned equipment to perform sowing operations with a sowing width corresponding to the waypoint during the movement.

[0033] When controlling the unmanned equipment to move along the operating route, it can be controlled by trajectory cruising, that is, the trajectory is the operating route, such as setting a marked path matching the operating route on the target strip area, and the unmanned equipment collects the marked path in real time during the movement to realize navigation; it can also be controlled by converting the coordinates of the operating route relative to the target strip area into world coordinates, and then setting the cruise based on the world coordinates.

[0034] In addition to the above-mentioned cruise control method, it can also be controlled by distance measurement methods such as sound waves, infrared, and radar. Specifically, firstly, the distance from each position on the operating route to one of the boundaries is calculated based on the position of the operating route in the target strip area to construct a distance control table, and then the real-time distance between the unmanned equipment and the boundary is measured in real time based on the above-mentioned distance measurement method, wherein the real-time distance is provided by the distance control table. That is, the unmanned equipment needs to extract the distance of the next position from the distance control table at each position, and control its movement on the path of the corresponding distance through the distance measurement method.

[0035] In the process of controlling the unmanned equipment to perform sowing operations with the sowing width corresponding to the waypoint during movement, the target sowing width is determined according to the real-time position of the unmanned equipment (that is, the waypoint), and the unmanned equipment is controlled to perform sowing operations with the target sowing width.

[0036] In practical applications, the target sowing width can be obtained by querying a correspondence table between the width and sowing width corresponding to a preset waypoint, or by measuring the width of the waypoint in real time and calculating it in real time based on the matching relationship between the width and the sowing width.

[0037] It is understandable that when the target sowing width is determined by looking up a table, that is, when planning the operating route for the target strip area, the width of each position of the operating route is calculated through the boundary of the target strip area, and the corresponding sowing width is set based on the width. The conditions and the value of the sowing width for each adjustment of the unmanned equipment are set based on the preset sowing width adjustment operation rules to obtain a corresponding relationship table between the width and the sowing width. During the operation, the adjusted sowing width can be obtained by looking up the table to realize the sowing width adaptive matching operation.

[0038] It should be further explained that the operating route here is not necessarily the center line between the two opposite boundaries, but can be any position. When it is set to a non-center line, the sowing width adjustment of the unmanned equipment needs to be set to an asymmetric control mode of the spinning disc.

[0039] like Figure 2 As shown, the setting logic between width and sowing width is explained by taking the working route as the center line as an example. After the width of each position of the working route (that is, the center line in the figure) is measured and mapped, the width difference of each position is calculated, and multiple consecutive positions with width differences within the allowable error range are selected to synthesize an operating interval, and a sowing width is uniformly set for the operating interval. As shown in the figure, width 1 and width 2 can be set as an operating interval, and the sowing width in the operating interval uses sowing width a, and width 2 and width 3 can be set as another operating interval, and the sowing width in the operating interval uses sowing width b.

[0040] When setting the corresponding relationship table, the widths of all positions within the same operation interval correspond to one sowing width, for example, all widths between width 1 and width 2 correspond to sowing width a.

[0041] During the operation, the acquired position information is matched with the pair relationship in the table to determine the target sowing width, which is then converted into a swing angle range. The swing angle range is used to control the reciprocating motion of the spinning disc on the unmanned equipment to achieve the sowing operation.

[0042] In another embodiment, the operation of adaptively adjusting the sowing width based on the width of the target strip area can be realized by setting the operation distance after each sowing width adjustment to control the next sowing width adjustment.

[0043] That is, the sowing width adjustment position is set in advance according to the shape of the target strip area, and then the distance between the two adjustment positions is calculated. After adjusting the sowing width at each adjustment position, the moving distance of the subsequent unmanned equipment is calculated. After the moving distance meets the corresponding distance, the program for adjusting the sowing width again is triggered, the position information is obtained, and the width under the position information is determined, so as to determine the target sowing width and adjust it to continue the sowing operation. This method can also realize adaptive adjustment of the sowing width and improve the sowing coverage rate.

[0044] Of course, if higher coverage and operation accuracy are required, the operation can be set to be performed in a manner of adjusting the sowing width at each position. The specific method is not specifically limited in this embodiment and can be selected according to actual operation requirements.

[0045] Furthermore, when the target sowing width is obtained by real-time calculation, the real-time position information of the unmanned equipment during movement (i.e., the waypoint at which it is located) is obtained, and the width of the target strip area located on the real-time position information is determined, and finally the corresponding target sowing width is calculated based on the calculation method between the width and the sowing width. The width on the position information can be obtained by real-time measurement and calculation, or it can be measured when planning the operation route, and it can be obtained directly by calling it here.

[0046] In this embodiment, real-time location information is obtained through a positioning auxiliary device on the unmanned equipment, such as the following two methods:

[0047] The first is based on flight time, combined with the coordinates of the operating route in the target strip area; the second is to directly use GPS and other positioning software on unmanned equipment to achieve it.

[0048] In another embodiment, the width can be a specific value or a range value. If the broadcast width needs to be adjusted in real time based on the position information, the width is set to a specific value; if the target strip area is set to an interval, the width is set to a range value, such as setting the width to a range value between the maximum width and the minimum width of the corresponding interval.

[0049] In the technical solution provided in this embodiment, the sowing width that matches the width of different waypoints in the target strip area is determined, and the sowing operation is performed based on the determined sowing width, which solves the problem of exceeding the boundary of the plot or incomplete coverage when using a fixed sowing width to operate on the strip area in the prior art, and also improves the uniformity of the sown material.

[0050] Reference Figure 3 This embodiment takes the scenario where the unmanned equipment moves to each position and adjusts the sowing width as an example to provide another embodiment of the sowing operation method in a strip area.

[0051] 310. Extract two opposite boundaries in the target strip area.

[0052] Specifically, a map of the target strip area is photographed, and two target boundaries extending along the length direction of the target strip area in the map are extracted as the boundary information of the target strip area.

[0053] It should be noted that the target strip area here refers to similar plots of land such as tea gardens and terraces, and the width of the target strip area is smaller than the maximum sowing width of the unmanned equipment.

[0054] The boundary information of such a target strip area can be directly extracted from its map, which can be obtained by shooting. That is, it is obtained through the visual device of the unmanned equipment itself, that is, before the operation, the unmanned equipment is controlled by the joystick to take off or move in the target strip area to shoot a complete image of the target strip area, and then the information that does not belong to the target strip area in the image is removed to obtain a map of the target strip area, and the closed contours in the map are extracted to obtain the boundary information of the target strip area.

[0055] In another embodiment, it can also be obtained by surveying and mapping. Specifically, the user uses surveying and mapping tools to mark points and circle the target strip area. Of course, a remote sensing drone can also be used to obtain a high-definition map of the target strip area through aerial photography. Based on the high-definition map, the boundary information of the target strip area is identified by manual circle or AI.

[0056] like Figure 2 As shown, after taking a high-definition map of the target strip area, it can be seen that the width of the area in the map is not equal, and the image recognition algorithm is used to extract the boundaries therein, which are the upper boundary 1 and the lower boundary 2 in the figure. It should be noted that when extracting the boundaries, the length direction of the target strip area is first determined, and then the boundaries of the two sides in the length direction are extracted as the boundaries of the target strip area.

[0057] Furthermore, the position coordinates and direction of each boundary can be determined based on the coordinates of the high-definition map in combination with the world coordinates to obtain the boundary information.

[0058] 320. Sample points on the two boundaries.

[0059] 330. Calculate the midpoint of the connection between points of the same proportion in two boundaries.

[0060] 340. Connect all the midpoints to obtain the operation route.

[0061] In this embodiment, multiple pairs of boundary points are selected from two target boundaries extending along the length direction thereof, and the midpoint of the connecting line between each pair of boundary points is extracted, wherein each pair of boundary points includes two boundary points, and the two boundary points are not located in the same target boundary; the multiple midpoints are connected to obtain the operation line of the target strip area; the width of each sampling waypoint on the operation line is determined, and the corresponding sowing width is configured to obtain the operation route.

[0062] It can be understood that the step of selecting multiple pairs of boundary points from two target boundaries extending along their length directions and extracting the midpoint of the line connecting each pair of boundary points includes:

[0063] The boundary points of the two target boundaries are sampled at preset proportional intervals, and two boundary points at the same proportional positions in the two target boundaries are connected by a line; and the midpoint of the line connecting the two boundary points is extracted.

[0064] by Figure 2 For example, we sample points proportionally for the two boundaries in the figure. For example, we sample 10 points for each of the upper boundary 1 and the lower boundary 2 in the figure. Each point is at a different proportional position of the boundary. For example, we can sample points at 0, 10%, 20%...100% of the length. Then, we connect the points with the same proportion in the upper boundary 1 and the lower boundary 2, and then take the midpoint of the connecting line. The center line is obtained by connecting all the midpoints. The figure shows three points, which are the points on the two boundaries corresponding to width 1, width 2 and width 3.

[0065] 350. Generate an operation route based on the operation line.

[0066] Specifically, the width of each sampling waypoint on the operation route is first determined, and then the sowing width corresponding to each sampling waypoint is configured based on the width of each sampling waypoint to obtain the operation route.

[0067] In this embodiment, a perpendicular line of the tangent of each sampling waypoint of the operation route is drawn; the length of the perpendicular line between two target boundaries is measured as the width of the target strip area; and the sowing width corresponding to each width is configured to obtain the operation route of the target strip area.

[0068] The vertical line is the vertical line of the tangent line at each position on the operation route. Specifically, the position information is determined by the movement parameters of the unmanned device, and the vertical line of the tangent line of the operation route at each sampling waypoint is determined. The sampling waypoint refers to the real-time position coordinates of the unmanned device during the movement of the operation route.

[0069] Furthermore, the distance between the vertical line and the intersection of the two target boundaries is calculated to obtain the width of the sampling waypoint.

[0070] It should be noted that the distance calculation is the area width of the corresponding sampling waypoint on the operation route. Specifically, the width on the sampling waypoint is obtained by measuring the length of the vertical line in the target strip area.

[0071] It can be understood that after the unmanned equipment determines the sampling waypoint where it is located by real-time positioning, the sampling waypoint is used as the starting point, and the tangent to the operation line at the sampling waypoint is drawn, and then the perpendicular line of the tangent is determined, that is, the straight line passing through the sampling waypoint and perpendicular to the tangent, and the intersection of the straight line and the two target boundaries is further determined, such as Figure 2 As shown, the straight line where the width 1-3 is located intersects with the upper boundary 1 and the lower boundary 2 respectively, and the length of the line between the two intersections is calculated to obtain the distance between the two boundaries at the sampling waypoint, that is, the width of the area at the sampling waypoint.

[0072] In another embodiment, after the width of the sampling waypoints is determined, the length of the vertical line of each sampling waypoint of the operation line can be used to generate a width table of the target strip area.

[0073] Then, during the operation process, the corresponding width is obtained by directly looking up the table based on the real-time positioning position information, that is, obtaining the position information of the unmanned equipment during the movement, and determining the width of the target strip area located on the position information, including: determining the position information through the movement parameters of the unmanned equipment, and querying the width matching the position information from the width table by looking up the table.

[0074] 360 degrees, control the movement of unmanned equipment and determine the broadcast width at real-time location.

[0075] 370. Determine the swing angle range of the spinner based on the sowing width, and perform sowing operations.

[0076] Specifically, a target sowing width is determined according to the sowing width, and the unmanned equipment is controlled to perform sowing operations with the target sowing width.

[0077] It is understandable that the sowing operation is achieved by converting the sowing width into the swing angle range of the spinning disc and controlling the spinning disc to move back and forth within the swing angle range. For example, when the sowing width is determined to be width 1 in the figure, the corresponding target sowing width is determined by querying from the sowing width table based on width 1, and then the swing angle range of the spinning disc is determined based on the target sowing width. The swing angle range here can be obtained by converting through a calculation formula or by looking up a table.

[0078] After determining the swing angle range, the motor driving the spinner is controlled to perform reciprocating motion. The control is specifically based on determining the motor swinging to the vertex positions on both sides based on the swing angle range, and finally controlling the motor to perform reciprocating motion between the two vertex positions, thereby evenly spreading the material output from the Jiaolong.

[0079] In the technical solution provided by this embodiment, the boundary information of the target strip area is obtained, wherein the target strip area is an operation area of ​​unequal width; the operation route of the target strip area is planned according to the boundary information, and the unmanned equipment is controlled to move along the operation route; the position information of the unmanned equipment during the movement is obtained, and the width of the target strip area located on the position information is determined; the target sowing width is determined according to the width, and the unmanned equipment is controlled to perform sowing operations with the target sowing width. This solves the problem of exceeding the boundary of the plot or incomplete coverage when using a fixed sowing width to operate on a strip area in the prior art.

[0080] Reference Figure 4 This embodiment takes the scenario of setting a broadcast width corresponding to a range as an example. Figure 2 As shown in the figure, there are two operation intervals, namely, the interval from width 1 to width 2 and the interval from width 2 to width 3. Both of these operation intervals are part of the target strip area. Based on the above scenario, with the drone as the execution subject, another embodiment of the strip area spreading operation method is proposed:

[0081] 410. Obtain boundary information of the target strip area.

[0082] 420. Determine the center line of the target strip area as the operation route based on the boundary information.

[0083] 430. Determine the sowing width at the operating location of the UAV.

[0084] 440. Calculate the swing angle range based on the sowing width and perform the operation.

[0085] The implementation principles of steps 410-440 can be implemented by referring to the above steps 310-370, and will not be repeated here.

[0086] 450. Continue to determine whether the drone's broadcast width needs to be adjusted.

[0087] If adjustment is required, the process returns to step 430 to redetermine the width and make adjustments; if adjustment is not required, the process continues, that is, the process returns to step 440 .

[0088] In this embodiment, it is determined whether the unmanned equipment meets the conditions for adjusting the sowing width; if the conditions for adjusting the sowing width are met, the width corresponding to the new position information of the unmanned equipment is determined, and the swing angle range is adjusted based on the corresponding width; if the conditions for adjusting the sowing width are not met, the spinning disc is controlled to maintain the swing angle range.

[0089] It should be noted that the condition can be time, width or moving distance. After planning the operation route and mapping the width of each position on the operation route, it also includes:

[0090] The width of each position measured is sorted in the order of the positions, and the difference between the width of the first position and the width of other positions is calculated backwards starting from the first position, and the difference can be a cumulative value;

[0091] Determine the relationship between the difference and a preset allowable deviation value;

[0092] If the difference is not greater than the allowable deviation value, the first position to the position corresponding to the difference is divided into an operation interval;

[0093] The difference is calculated continuously with the next position of the operation interval as the first position, and the next operation interval is constructed until all the target strip areas are divided into operation intervals.

[0094] When controlling the drone to perform sowing operations, the drone's position is located in real time, and the width of the area corresponding to the located position is calculated. The width is then compared with the drone's current operating sowing width. If the comparison result is within the allowable deviation value, that is, within the same operating range, the sowing width will not be adjusted and the operation will continue; otherwise, the sowing width needs to be adjusted to the current width to continue the operation.

[0095] In another embodiment, the determining whether the unmanned equipment meets the condition for adjusting the broadcast width includes:

[0096] Identify whether the position information at the current moment and the position information at the previous moment are located in the same operation range, wherein the previous moment is the moment when the swing angle range of the spinning disc is adjusted;

[0097] If they are located in the same operation range, determining to readjust the sowing width of the drone;

[0098] If they are not located in the same operation range, it is determined not to adjust the sowing width of the UAV.

[0099] like Figure 2 As shown, when the UAV flies to the position corresponding to width 1, the swing angle range of the spinner is calculated based on width 1, and the motor is driven based on the swing angle range to control the spinner to swing to reach the swing angle range to achieve the spreading operation.

[0100] After adjusting the sowing width of the drone at the width 1 position, continue to control the drone to move along the operating direction (i.e., the center line). When flying to position A, it is possible to determine whether the sowing width of the unmanned equipment needs to be adjusted again by judging whether position A is within the operating range of the combination of width 1 and width 2. It can also be controlled by measuring whether the difference between the width of position A and the width of position 1 is greater than the allowable deviation value.

[0101] Specifically, the sowing width is adjusted once every fixed distance, or the interval can be set, for example, the sowing width is 1 when the width is in interval A, and the sowing width is 2 when the width is in interval B.

[0102] During operation, the width corresponding to the current position is determined, and the width is determined as the target sowing width. Then, the swing angle range of the spinner corresponding to the target sowing width is determined, and the motor of the spreader is controlled to drive the spinner to move within the determined swing angle range to achieve sowing with the target sowing width.

[0103] In practice, the sowing width of each operation interval may be set by calculating the widths of the two end points of the operation interval, such as being set as the average value of the widths of the two end points.

[0104] In the technical solution provided by this embodiment, after determining the operation route of the target strip area, the sowing operation is performed based on the sowing width corresponding to each waypoint in the operation route. The sowing width is adaptively adjusted according to the width change of the target strip area to achieve perfect coverage of the strip area.

[0105] Figure 5It is a schematic diagram of the structure of a plant protection device provided in an embodiment of the present application, wherein the plant protection device 500 includes a mobile platform 100, a spreading device 200, a memory 520 and a processor 510, wherein the memory 520 stores instructions, wherein the plant protection device 500 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (for example, one or more processors) and a memory 520, and one or more storage media 530 (for example, one or more mass storage devices) storing application programs 533 or data 532. Among them, the memory 520 and the storage medium 530 may be short-term storage or permanent storage. The program stored in the storage medium 530 may include one or more modules (not shown in the figure), and each module may include a series of computer-readable instruction operations on the plant protection device 500. Furthermore, the processor 510 can be configured to communicate with the storage medium 530 and execute a series of computer-readable instruction operations in the storage medium 530 on the plant protection equipment 500. When the computer-readable instructions are executed by the processor, the processor executes the steps of the strip area sowing operation method in the above-mentioned embodiments.

[0106] The plant protection device 500 may further include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 5 The structure of the plant protection device shown does not constitute a limitation of the plant protection device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0107] In this embodiment, the spreading device 200 is disposed on the mobile platform 100, and the spreading device 200 is communicatively connected with the memory 520 and the processor 510 via a bus. The spreading device 200 includes:

[0108] An acquisition module, used for acquiring boundary information of a target strip region, wherein the target strip region is an operation region of unequal width, and the target strip region includes two target boundaries extending along its length direction;

[0109] a planning module, configured to plan an operating route of the target strip area according to the boundary information, the operating route being located between the two target boundaries, the operating route including a first waypoint, the sowing width corresponding to the first waypoint matching the width of the target strip area corresponding to the first waypoint, the first waypoint being any waypoint in a set of waypoints included in the operating route;

[0110] The sowing module is used to control the unmanned equipment to move along the operation route, and control the unmanned equipment to perform sowing operations with a sowing width corresponding to the waypoint during the movement.

[0111] Through the implementation of the spreading device, the sowing width is adaptively adjusted according to the width of each waypoint in the target strip area, so as to achieve perfect coverage of the strip area.

[0112] The present application also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein instructions are stored in the computer, and when the instructions are executed on a computer, the computer executes the steps of the strip area spreading method.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0114] If the integrated unit 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 is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0115] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A strip-shaped area spreading method, applied to unmanned equipment, characterized in that: The method comprises: Acquire boundary information of a target strip area, wherein the target strip area is an operation area of ​​unequal width, and the target strip area includes two target boundaries extending along its length direction; Planning an operating route of the target strip area according to the boundary information, the operating route is located between the two target boundaries, the operating route includes a first waypoint, the sowing width corresponding to the first waypoint matches the width of the target strip area corresponding to the first waypoint, and the first waypoint is any waypoint in a set of waypoints included in the operating route; The unmanned equipment is controlled to move along the operation route, and the unmanned equipment is controlled to perform sowing operations with a sowing width corresponding to the waypoint during the movement.

2. The strip-shaped area spreading method according to claim 1, characterized in that: The unmanned equipment is provided with a spreading device, which includes a spinning disc and a motor. The spinning disc can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor to spread the material. The controlling the unmanned equipment to perform sowing operations with a sowing width corresponding to the waypoint during movement includes: The sowing width corresponding to the waypoint where the unmanned equipment is located during movement is converted into a swing angle range of the spinning plate, and the spinning plate is controlled to move back and forth within the swing angle range to spread the materials.

3. The strip-shaped area spreading method according to claim 2, characterized in that: After controlling the spinning disk to move back and forth within the swing angle range, the method further comprises: Determining whether the unmanned equipment meets the conditions for adjusting the sowing width; If the conditions for adjusting the sowing width are met, determining the width corresponding to the new position information of the unmanned device, and adjusting the swing angle range based on the corresponding width; If the condition for adjusting the sowing width is not met, the spinning disc is controlled to maintain the swing angle range.

4. The strip-shaped area spreading method according to claim 3, characterized in that: The determining whether the unmanned equipment meets the conditions for adjusting the broadcast width includes: Identify whether the position information at the current moment and the position information at the previous moment are located in the same operation range, wherein the previous moment is the moment when the swing angle range of the spinning disc is adjusted; If they are located in the same operation range, determining to readjust the sowing width of the drone; If they are not located in the same operation range, it is determined not to adjust the sowing width of the UAV.

5. The strip-shaped area spreading method according to claim 1, characterized in that: The width of the target strip area is smaller than the maximum broadcasting width of the unmanned equipment.

6. The strip-shaped area spreading method according to any one of claims 1 to 5, characterized in that: The step of obtaining boundary information of the target strip area includes: A map of the target strip area is photographed, and two target boundaries extending along the length direction of the map are extracted as boundary information of the target strip area.

7. The strip-shaped area spreading method according to any one of claims 1 to 5, characterized in that: The step of planning an operation route of the target strip area according to the boundary information includes: Selecting a plurality of pairs of boundary points from two target boundaries extending along the length direction thereof, and extracting the midpoint of the connecting line between each pair of boundary points, wherein each pair of boundary points includes two boundary points, and the two boundary points are not located on the same target boundary; Connecting a plurality of the midpoints to obtain an operation line of the target strip area; The width of each sampling waypoint on the operation route is determined, and the corresponding sowing width is configured to obtain the operation route.

8. The strip-shaped area spreading method according to claim 7, characterized in that: The step of selecting a plurality of pairs of boundary points from two target boundaries extending along the length direction thereof and extracting the midpoint of the line connecting each pair of boundary points comprises: Sampling boundary points of two target boundaries at preset proportional intervals, and connecting two boundary points at the same proportional positions in the two target boundaries; Extract the midpoint of the line connecting two boundary points.

9. The strip-shaped area spreading method according to claim 7, characterized in that: The step of determining the width of each sampling waypoint on the operation route and configuring the corresponding sowing width to obtain the operation route includes: Draw a perpendicular line to the tangent of each sampling waypoint of the operation route; Measuring the length of the vertical line between the two target boundaries as the width of the target strip area; The sowing widths corresponding to the widths are configured to obtain the operation routes of the target strip areas.

10. A plant protection device, characterized in that: The plant protection device comprises a mobile platform, a spreading device, a memory and at least one processor, wherein instructions are stored in the memory; The spreading device is arranged on the mobile platform, and the at least one processor calls the instructions in the memory so that the plant protection equipment executes the strip area spreading operation method as described in any one of claims 1-9.

11. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are read and executed, the strip-shaped area spreading method according to any one of claims 1 to 9 is executed.

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