Striped area sowing operation method, plant protection equipment and storage medium

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses a strip-shaped area sowing operation method, a plant protection device and a storage medium, which are used for solving the problems of exceeding the field boundary and incomplete coverage when a fixed sowing width is used to operate on a strip-shaped area in the prior art. The method comprises the following steps: acquiring boundary information of a target strip-shaped area; planning an operation route of the target strip-shaped area according to the boundary information and controlling an unmanned device to move along the operation route; and controlling the unmanned device to move along the operation route and controlling the unmanned device to perform sowing operation at a corresponding sowing width of a current waypoint during the movement.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method for spreading seeds in a strip-shaped area, plant protection equipment, and storage medium. Background Technology

[0002] In the field of modern agricultural technology, sowing is an important part of agricultural operations. To improve operational efficiency and ensure personnel safety, more and more users are using sowing equipment such as aircraft and drones to automate sowing operations. The accuracy and coverage of the operational flight path planning are key to improving operational efficiency.

[0003] Especially for sowing operations in strip-shaped areas such as tea fields and terraced fields, since these strip-shaped areas are not of uniform width, when setting a fixed sowing width for the drone and making it fly and sow along the center line of the area, there will be situations where the sowing exceeds the boundary of the work area or cannot fully cover the area. Summary of the Invention

[0004] This application provides a method for broadcasting seeding in strip areas, plant protection equipment, and storage medium to solve the problems of exceeding plot boundaries or incomplete coverage when using fixed seeding widths to operate in strip areas in the prior art.

[0005] The first aspect of this application provides a method for seeding operations in a strip-shaped area, applied to an unmanned device. The method includes: acquiring boundary information of a target strip-shaped area, wherein the target strip-shaped area is a work area of ​​unequal width, and the target strip-shaped area includes two target boundaries extending along its length direction; planning a work route for the target strip-shaped area based on the boundary information, the work route being located between the two target boundaries, the work route including a first waypoint, the seeding width corresponding to the first waypoint matching the width of the target strip-shaped area at the first waypoint, the first waypoint being any waypoint in a set of waypoints included in the work route; controlling the unmanned device to move along the work route, and controlling the unmanned device to perform seeding operations with the seeding width corresponding to the waypoint during the movement.

[0006] Optionally, the unmanned equipment is equipped 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. Controlling the unmanned equipment to perform spreading operations with the spreading width corresponding to the waypoint during the movement includes: converting the spreading width corresponding to the waypoint of the unmanned equipment during the movement into the swing angle range of the spinning disc, and controlling the spinning disc to move back and forth within the swing angle range to spread the material.

[0007] Optionally, after controlling the swivel disc to move back and forth within the swing angle range, the method further includes: determining whether the unmanned equipment meets the conditions for amplitude adjustment; if the conditions for amplitude adjustment 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 amplitude adjustment are not met, controlling the swivel disc to maintain the swing angle range.

[0008] Optionally, determining whether the unmanned device meets the conditions for adjusting the broadcast width includes: identifying whether the current position information and the previous position information are within the same working range, wherein the previous position information is the time when the swing angle range of the spinning disc is adjusted; if they are within the same working range, then the broadcast width of the drone is determined to be readjusted; if they are not within the same working range, then the broadcast width of the drone is determined not to be adjusted.

[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 region includes: taking a picture of the target strip region and extracting two target boundaries extending along its length direction in the map as the boundary information of the target strip region.

[0011] Optionally, the step of planning the operation route of the target strip area based on the boundary information includes: selecting multiple pairs of boundary points from two target boundaries extending along their length direction, 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 operation route of the target strip area; determining the width of each sampling waypoint on the operation route, and configuring the corresponding span to obtain the operation route.

[0012] Optionally, the step of selecting multiple pairs of boundary points from two target boundaries extending along their length direction and extracting the midpoint of the line connecting each pair of boundary points includes: sampling the boundary points of the two target boundaries at preset ratio intervals, and connecting two boundary points at the same ratio position 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 operation route and configuring the corresponding span to obtain the operation route includes: drawing the perpendicular line of the tangent of each sampling waypoint on the operation route; measuring the length of the perpendicular line between the two target boundaries as the width of the target strip region; configuring the span corresponding to each width to obtain the operation route of the target strip region.

[0014] A second aspect of this application provides a plant protection device, which includes a mobile platform, a spreading device, a memory, and at least one processor. The memory stores instructions. The spreading device is mounted on the mobile platform, and the at least one processor invokes the instructions in the memory to cause the spreading device to perform the strip-shaped area spreading operation method provided above.

[0015] A third aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the strip-area spreading operation method described above.

[0016] In the technical solution provided in this application, after determining the operation route for the target strip area, the seeding operation is carried out based on the seeding width corresponding to each waypoint in the operation route. This method not only enables adaptive adjustment of the seeding width by the unmanned equipment but also improves the coverage of the seeding operation in the strip area. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first embodiment of the strip-shaped area sowing method in this application;

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

[0019] Figure 3 This is a schematic diagram of a second embodiment of the strip-shaped area sowing method in this application;

[0020] Figure 4 This is a schematic diagram of the third embodiment of the strip-shaped area sowing method in this application;

[0021] Figure 5 This is a schematic diagram of one embodiment of the plant protection equipment in this application. Detailed Implementation

[0022] This application provides a method, plant protection equipment, and storage medium for broadcasting in strip areas. When broadcasting in strip areas, the method pre-acquires the boundary information of the strip area, plans the operation route and the width of each position on the operation route, configures the corresponding broadcast width based on the width, and adjusts the unmanned equipment to operate based on the configured broadcast width. This achieves adaptive adjustment of the broadcast width according to the operation area and improves the coverage of the broadcasting operation.

[0023] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] It is understood that the executing entity of this invention can be a seeding device, wherein the seeding width of the seeding device is variable, or it can be a mobile device equipped with a seeding device, such as a drone or unmanned vehicle. No specific limitation is made here; any device equipped with the seeding device on a mobile platform is acceptable. In this embodiment of the invention, a drone is used as the executing entity. The drone is equipped with a seeding device, and the drone and the seeding device are communicatively connected. The seeding device can perform seeding operations based on commands from the controller on the drone.

[0025] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the strip-shaped area sowing method in this example includes:

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

[0027] In this embodiment, the target strip area refers to a work area of ​​unequal width. 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 as a planting strip in the plot of land, and the width of each position in the planting strip is not equal.

[0028] The target strip-shaped area is mapped by human input or by using tools. Then, the boundary information is extracted from the map information through contour recognition technology or algorithms. The boundary information includes at least the location, direction and length of the boundary.

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

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

[0031] Understandably, the boundaries of the target strip region are extracted from the boundary information. Following the principle of planning the operational route between two opposite sides, two boundaries that meet the planning requirements are selected as the target boundaries. Then, a centerline equidistant from the two target boundaries is calculated, and this centerline is used as the operational route. It should be noted that this planning requirement refers to the two longest opposite sides.

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

[0033] When controlling unmanned equipment to move along the work route, it can be controlled by trajectory cruise, that is, the trajectory is the work route. For example, a marker path matching the work route is set on the target strip area, and the unmanned equipment collects the marker path in real time during the movement to realize navigation; or it can be controlled by converting the coordinates of the work 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 aforementioned cruise control methods, ranging methods such as sound waves, infrared, and radar can also be used for control. Specifically, firstly, based on the position of the operational route within the target strip area, the distance from each position on the operational route to one of the boundaries is calculated to construct a distance control table. Then, based on the aforementioned ranging methods, the real-time distance between the unmanned equipment and the boundary is measured, where the real-time distance is provided by the distance control table. That is, at each position, the unmanned equipment needs to extract the distance to the next position from the distance control table and control its movement along the path corresponding to that distance using ranging methods.

[0035] During the process of controlling the unmanned equipment to carry out seeding operations with the seeding width corresponding to the waypoint during movement, the target seeding width is determined based on the real-time position of the unmanned equipment (i.e., the waypoint), and the unmanned equipment is controlled to carry out seeding operations with the target seeding width.

[0036] In practical applications, the target span can be obtained by querying a pre-set table of the correspondence between the width and span of waypoints, or by measuring the width of waypoints in real time and calculating it in real time based on the matching relationship between width and span.

[0037] Understandably, when the target span is determined by looking up a table, that is, when planning the operation route for the target strip area, the width of each position of the operation route is calculated based on the boundary of the target strip area, the corresponding span is set based on the width, and the conditions and values ​​of the unmanned equipment for adjusting the span each time are set based on the preset span adjustment operation rules, so as to obtain a correspondence table between width and span. During the operation, the adjusted span can be obtained by looking up the table to achieve adaptive matching operation of span.

[0038] It should be further explained that the operation 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 spread of the unmanned equipment needs to be adjusted to the asymmetrical control mode of the spinning disc.

[0039] like Figure 2 As shown, taking the operation route as the center line as an example, the setting logic between width and broadcast width is explained. After measuring the width of each position of the operation route (that is, the center line in the figure), the width difference of each position is calculated. Multiple consecutive positions with width differences within the allowable error range are selected to form an operation interval. A broadcast width is uniformly set for this operation interval. For example, in the figure, width 1 and width 2 can be set as one operation interval, and the broadcast width in this operation interval is broadcast width a. Width 2 and width 3 can be set as another operation interval, and the broadcast width in this operation interval is broadcast width b.

[0040] When setting up the correspondence table, the width of all positions within the same work area is assigned to a single span, such as all widths between width 1 and width 2 corresponding to span a.

[0041] During the operation, the acquired location information is matched with the relationships in the table to determine the target sowing width. Then, the target sowing width is converted into a swing angle range, which 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 adaptive adjustment of the seeding width based on the target strip area can also be achieved by setting the working distance after each adjustment of the seeding width to control the next adjustment of the seeding width.

[0043] This involves pre-setting the sowing width adjustment position based on the shape of the target strip area, then calculating the distance between the two adjustment positions. After adjusting the sowing width at each position, the subsequent movement distance of the unmanned equipment is calculated. Once the movement distance meets the corresponding requirement, the program for adjusting the sowing width again is triggered. The position information is obtained, and the width under that position information is determined, thereby determining and adjusting the target sowing width to continue the sowing operation. This method can also achieve adaptive adjustment of the sowing width and improve the sowing coverage.

[0044] Of course, if a high coverage and accuracy of the operation are required, the operation can be set to adjust the broadcast width at each position. This embodiment does not make a specific limit on which method to choose, and you can choose according to the actual operation requirements.

[0045] Furthermore, when the target span is obtained through real-time calculation, the real-time location information (i.e., the waypoint) of the unmanned equipment during its movement is acquired, and the width of the target strip region relative to the real-time location information is determined. Finally, the corresponding target span is calculated based on the calculation method between the width and the span. The width at this location information can be obtained through real-time measurement and calculation, or it can be measured when planning the operation route; here, it can be obtained directly by retrieval.

[0046] In this embodiment, real-time location information is obtained through a positioning assistance device on the unmanned device, in the following two ways:

[0047] The first method is based on flight time, combined with the coordinates of the operational route within the target strip area; the second method is to directly utilize GPS and other positioning software on the unmanned equipment.

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

[0049] In the technical solution provided in this embodiment, the sowing width is determined according to the width of different waypoints in the target strip area, and the sowing operation is carried out based on the determined sowing width. This solves the problem that when using a fixed sowing width to operate on strip areas in the prior art, there are problems such as exceeding the plot boundary or incomplete coverage. At the same time, it also improves the uniformity of the sown material.

[0050] Reference Figure 3 This embodiment takes the scenario where an unmanned device moves to each location and adjusts the sowing width as an example to provide another embodiment of the sowing operation method for strip areas.

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

[0052] Specifically, by taking a map of the target strip area, the two target boundaries extending along its length 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 terraced fields, and the width of the target strip area is less than the maximum sowing width of the unmanned equipment.

[0054] The boundary information of such a target strip-shaped region can be directly extracted from its map, which can be obtained through photography. Specifically, it is acquired using the vision device of the unmanned aerial vehicle (UAV). Before operation, the UAV is controlled by a joystick to take off or move over the target strip-shaped region to capture a complete image of the region. Then, information not belonging to the target strip-shaped region is removed from the image, resulting in a map of the region. Closed contours are then extracted from the map to obtain the boundary information of the target strip-shaped region.

[0055] In another embodiment, the data can also be obtained through surveying. Specifically, the user uses surveying tools to mark points and circle the target strip-shaped area. Alternatively, a remote sensing drone can be used to take aerial photos to obtain a high-resolution map of the target strip-shaped area. Based on the high-resolution map, the boundary information of the target strip-shaped area can be identified manually or by AI.

[0056] like Figure 2 As shown, after capturing a high-resolution map of the target strip-shaped area, it can be seen that the width of the area in the map is not equal. Using image recognition algorithms, the boundaries are extracted, which are the upper boundary 1 and the lower boundary 2 in the image. It should be noted that when extracting the boundaries, the length direction of the target strip-shaped area is first determined, and then the boundaries of the two sides along the length direction are extracted as the boundaries of the target strip-shaped area.

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

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

[0059] 330. Calculate the midpoint connecting points with the same proportion on two boundaries.

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

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

[0062] Understandably, the step of selecting multiple pairs of boundary points from two target boundaries extending along their length direction and extracting the midpoint of the line connecting each pair of boundary points includes:

[0063] Sample the boundary points of the two target boundaries at a preset proportional interval, and connect two boundary points at the same proportional position in the two target boundaries; extract the midpoint of the line connecting the two boundary points.

[0064] by Figure 2 For example, sampling points proportionally along the two boundaries in the diagram, such as taking 10 points for each of the upper and lower boundaries (1 and 2 respectively), with each point located at different proportional positions on the boundary (e.g., at 0%, 10%, 20%, ... 100% of the length). Then, connecting the points of the same proportion on both boundaries, and taking the midpoint of the connecting line, and connecting all midpoints, we obtain the centerline. The diagram shows three points, corresponding to widths 1, 2, and 3 on the two boundaries.

[0065] 350. Generate operation routes based on operation routes.

[0066] Specifically, the width of each sampling waypoint on the operation route is first determined, and then the broadcast 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, the operation route of the target strip area is obtained by drawing the perpendicular line of the tangent of each sampling point of the operation route; measuring the length of the perpendicular line between the two target boundaries as the width of the target strip area; and configuring the broadcast width corresponding to each width.

[0068] The perpendicular line is the perpendicular to the tangent at each position along the operational route. Specifically, the position information is determined by the movement parameters of the unmanned equipment, and the perpendicular line to the tangent of the operational route at each sampling waypoint is determined. The sampling waypoint refers to the real-time position coordinates of the unmanned equipment based on its movement along the operational route.

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

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

[0071] Understandably, after the unmanned equipment determines its sampling waypoint through real-time positioning, a tangent line to the operational route at that waypoint is drawn, and then the perpendicular line to that tangent line is determined. This perpendicular line is the straight line passing through the sampling waypoint and perpendicular to the tangent line. Further, the intersection point of this straight line with the boundaries of the two targets is determined, such as... Figure 2 As shown, the lines containing widths 1-3 intersect the upper boundary 1 and the lower boundary 2 respectively. Calculate the length of the line connecting the two intersection points to obtain the distance between the two boundaries at the sampling waypoint, which is the width of the region at the sampling waypoint.

[0072] In another embodiment, after determining the width of the sampling waypoints, the lengths of the perpendiculars of each sampling waypoint of the operation route can be used to generate a width table of the target strip region.

[0073] Then, during the operation, the corresponding width is obtained by directly looking up the real-time positioning information in the table. 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 includes: determining the position information through the movement parameters of the unmanned equipment, and querying the width that matches the position information from the width table by looking up the table.

[0074] 360. Control the movement of unmanned equipment and determine the real-time location of the broadcast.

[0075] 370. Determine the swing angle range of the sowing disc based on the sowing width, and carry out the sowing operation.

[0076] Specifically, the target sowing width is determined based on the sowing width, and the unmanned equipment is controlled to perform sowing operations within the target sowing width.

[0077] Understandably, the sowing operation is achieved by converting the sowing width into the swing angle range of the sowing disc and controlling the sowing disc to move back and forth within the swing angle range. For example, if the sowing width is determined to be width 1 in the figure, the corresponding target sowing width is determined by looking up the sowing width table based on width 1, and then the swing angle range of the sowing disc is determined based on the target sowing width. This swing angle range can be obtained by conversion through a calculation formula or by looking up a table.

[0078] After determining the swing angle range, the motor driving the swivel disc is controlled to move back and forth. Specifically, the control determines the position of the motor swinging to the top of both sides based on the swing angle range, and finally controls the motor to move back and forth between the two top positions, so as to evenly spread the material output from the swivel.

[0079] The technical solution provided in this embodiment obtains the boundary information of a target strip-shaped area, wherein the target strip-shaped area is a work area of ​​unequal width; plans the work route of the target strip-shaped area according to the boundary information, and controls the unmanned equipment to move along the work route; obtains the position information of the unmanned equipment during the movement, and determines the width of the target strip-shaped area at the position information; determines the target sowing width according to the width, and controls the unmanned equipment to perform sowing operations with the target sowing width. This solves the problem in the prior art where using a fixed sowing width to work on strip-shaped areas results in exceeding the plot boundary or incomplete coverage.

[0080] Reference Figure 4 This embodiment takes a scenario where one playback width corresponds to one interval as an example, such as... Figure 2 As shown in the figure, there are two working zones: a zone from width 1 to width 2 and a zone from width 2 to width 3. Both of these working zones are part of the target strip area. Based on the above scenario, another embodiment of the strip area seeding operation method is proposed, using a drone as the execution subject:

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

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

[0083] 430. Determine the broadcast width of the drone's operating location.

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

[0085] The implementation principle of steps 410-440 can be implemented in the same way as steps 310-370 above, and will not be repeated here.

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

[0087] If adjustments are needed, return to step 430 to redetermine and adjust the width; if no adjustments are needed, continue the operation, i.e., return to step 440.

[0088] In this embodiment, it is determined whether the unmanned equipment meets the conditions for amplitude adjustment; if the conditions for amplitude adjustment 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 amplitude adjustment are not met, the swing plate is controlled to maintain the swing angle range.

[0089] It should be noted that this condition can be time, width, or travel distance. After planning the operation route and surveying the width at each location along the operation route, the following steps are also included:

[0090] The widths measured at each location are sorted according to the order of the locations, and the difference between the widths of the first location and the widths of other locations is calculated starting from the first location. This difference can be an accumulated value.

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

[0092] If the difference is not greater than the allowable deviation value, then the area from the first position to the position corresponding to the difference is divided into a working interval;

[0093] Using the next position of the current work interval as the first position, continue to calculate the difference and construct the next work interval until the entire target strip area is divided into work intervals.

[0094] During the seeding operation, the drone's position is located in real time, and the width of the area corresponding to the located position is calculated. Then, this width is compared with the drone's current seeding width. If the comparison result is within the allowable deviation value, that is, within the same working range, the seeding width is not adjusted and the operation continues; otherwise, it is necessary to adjust to the seeding width corresponding to the current width and continue the operation.

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

[0096] Identify whether the current position information and the previous position information are within the same working range, wherein the previous position is the moment when the swing angle range of the swivel disc is adjusted;

[0097] If they are located within the same work area, then the broadcast width of the drone will be readjusted.

[0098] If they are not located within the same operating area, then the broadcast width of the drone will not be adjusted.

[0099] like Figure 2 As shown, when the drone flies to the position corresponding to width 1, the swing angle range of the spinning disc is calculated based on width 1. Based on the swing angle range, the motor is driven to control the spinning disc to swing to achieve the swing angle range, so as to realize the sowing operation.

[0100] After adjusting the drone's beamwidth at position 1, continue to control the drone to move along the working direction (i.e., the centerline). When flying to position A, you can control whether the drone's beamwidth needs to be adjusted again by judging whether position A is within the working range of the combination of width 1 and width 2. Alternatively, you can control it 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, you can set the playback width to be adjusted at fixed intervals, or you can set intervals, such as using playback width 1 for widths in interval A and playback width 2 for widths in interval B.

[0102] During operation, the width corresponding to the current position is determined, and this width is defined as the target sowing width. Then, the swing angle range of the sowing disc corresponding to the target sowing width is determined. The motor of the sowing device is controlled to drive the sowing disc to move within the determined swing angle range, so as to achieve sowing with the target sowing width.

[0103] In practice, the span of each work area can be set by calculating the width of the two ends of the work area, such as setting it as the average width of the two ends.

[0104] In the technical solution provided in this embodiment, after determining the operation route for the target strip area, the seeding operation is carried out based on the seeding width corresponding to each waypoint in the operation route. By adaptively adjusting the seeding width according to the changes in the width of the target strip area, perfect coverage of the strip area is achieved.

[0105] Figure 5This is a schematic diagram of a plant protection device 500 provided in an embodiment of this application. The plant protection device 500 includes a mobile platform 100, a spreading device 200, a memory 520, and a processor 510. The memory 520 stores instructions. The plant protection device 500 can vary significantly due to different configurations or performance, and may include one or more central processing units (CPUs) 510 (e.g., one or more processors) and memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. The memory 520 and storage media 530 can be temporary or persistent storage. The program stored in the storage media 530 may include one or more modules (not shown in the figure), and each module may include a series of computer-readable instructions for operating 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 instructions in the storage medium 530 on the plant protection device 500. When the computer-readable instructions are executed by the processor, the processor performs the steps of the strip area sowing operation method in the above embodiments.

[0106] The plant protection device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input / output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 5 The illustrated plant protection equipment structure does not constitute a limitation on the plant protection equipment and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

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

[0108] The acquisition module is used to acquire the boundary information of the target strip-shaped region, wherein the target strip-shaped region is a work area of ​​unequal width, and the target strip-shaped region includes two target boundaries extending along its length direction;

[0109] The planning module is used to plan the operation route of the target strip area according to the boundary information. The operation route is located between two target boundaries. The operation route includes a first waypoint. The width of the target strip area corresponding to the first waypoint matches the width of the target strip area at the first waypoint. The first waypoint is any waypoint in the set of waypoints included in the operation route.

[0110] The seeding module is used to control the unmanned equipment to move along the operation route and to control the unmanned equipment to carry out seeding operations with the seeding width corresponding to the waypoint during the movement.

[0111] By implementing this seeding device, the seeding width can be adaptively adjusted according to the width of each waypoint in the target strip area, achieving perfect coverage of the strip area.

[0112] This application also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the strip area spreading operation method.

[0113] Those skilled in the art will clearly 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.

[0114] If the integrated unit is implemented as 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 this application, in essence, 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. 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 code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for spreading seeds in a strip-shaped area, applied to unmanned equipment, characterized in that, The method includes: Obtain the boundary information of the target strip-shaped region, wherein the target strip-shaped region is a work area of ​​unequal width, and the target strip-shaped region includes two target boundaries extending along its length direction; The operation route for the target strip area is planned according to the boundary information. The operation route is located at the center line between the two target boundaries. The operation route includes a first waypoint. The width corresponding to the first waypoint matches the width of the target strip area at the first waypoint. The first waypoint is any waypoint in the set of waypoints included in the operation route. The width is the length of the line connecting two boundary points at the same proportion position in the two target boundaries. Control the unmanned equipment to move along the operation route, and control the unmanned equipment to perform seeding operations with the seeding width corresponding to the waypoint during the movement; After mapping the width of each position along the operation route, the width difference at each position is calculated. Multiple consecutive positions with width differences within the allowable error range are selected to form an operation interval, and a single broadcast width is uniformly set for each operation interval. When setting the correspondence table, the width of all positions within the same operation interval is assigned to a single broadcast width. During the operation, the acquired position information is matched with the correspondence in the table to determine the target broadcast width. The target broadcast width is then converted into a swing angle range, which is used to control the reciprocating motion of the spinning disc on the unmanned equipment to achieve the sowing operation.

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

3. The method for spreading seeds in a strip-shaped area according to claim 2, characterized in that, After controlling the swivel disc to reciprocate within the swing angle range, the method further includes: Determine whether the unmanned equipment meets the conditions for adjusting the broadcast width; If the conditions for adjusting the broadcast width are met, determine the width corresponding to the new position information of the unmanned equipment, and adjust the swing angle range based on the corresponding width; If the conditions for amplitude adjustment are not met, the control panel is made to maintain the swing angle range.

4. The method for spreading seeds in a strip-shaped area according to claim 3, characterized in that, The determination of whether the unmanned equipment meets the conditions for broadcast width adjustment includes: Identify whether the current position information and the previous position information are within the same working range, wherein the previous position is the moment when the swing angle range of the swivel disc is adjusted; If they are located within the same work area, then the broadcast width of the unmanned equipment will be readjusted. If they are not located within the same work area, then the broadcast width of the unmanned equipment will not be adjusted.

5. The method for spreading seeds in a strip-shaped area according to claim 1, characterized in that, The width of the target strip area is less than the maximum broadcast width of the unmanned equipment.

6. The method for spreading seeds in a strip-shaped area according to any one of claims 1-5, characterized in that, The step of obtaining the boundary information of the target strip-shaped region includes: By taking a map of the target strip-shaped area, the two target boundaries extending along its length in the map are extracted as the boundary information of the target strip-shaped area.

7. The method for sowing in a strip-shaped area according to any one of claims 1-5, characterized in that, The step of planning the operation route for the target strip area based on the boundary information includes: Multiple pairs of boundary points are selected from two target boundaries extending along their length direction, 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 on the same target boundary. Connecting multiple midpoints yields the work route for the target strip area; The width of each sampling waypoint on the operation route is determined, and the corresponding broadcast width is configured to obtain the operation route.

8. The method for spreading seeds in a strip-shaped area according to claim 7, characterized in that, The step of selecting multiple pairs of boundary points from two target boundaries extending along their length direction and extracting the midpoint of the line connecting each pair of boundary points includes: Sample the boundary points of the two target boundaries at a preset proportional interval, and connect the two boundary points of the two target boundaries at the same proportional position. Extract the midpoint of the line connecting two boundary points.

9. The method for spreading seeds in a strip-shaped area according to claim 7, characterized in that, The process of determining the width of each sampling waypoint on the operation route and configuring the corresponding broadcast width to obtain the operation route includes: Draw the perpendicular lines to the tangents of the sampling points along the described operation route; The length of the vertical line between the two target boundaries is measured as the width of the target strip region; Configure the broadcast width corresponding to each width to obtain the operation route of the target strip area.

10. A plant protection device, characterized in that, The plant protection equipment includes a mobile platform, a spreading device, a memory, and at least one processor, wherein the memory stores instructions. The sowing device is mounted on the mobile platform, and the at least one processor calls the instructions in the memory to cause the plant protection equipment to perform the sowing operation method for the strip area as described in any one of claims 1-9.

11. A computer-readable storage medium storing instructions thereon, characterized in that, When the instruction is read and executed, it performs the sowing operation method for the strip area as described in any one of claims 1-9.

Images