Spraying operation method and device, unmanned equipment and storage medium

Abstract

The invention discloses a spraying operation method and device, unmanned equipment and a storage medium, and relates to the technical field of unmanned equipment, the method is applied to the unmanned equipment for mounting a spraying device, the spraying device comprises a pesticide box, a liquid level radar is installed at the top of the pesticide box, and a floater liquid level meter is installed at the bottom of the pesticide box. The method comprises the steps that the liquid level height of a medicine box is detected through a liquid level radar; the state of the medicine box is detected through the floater liquid level meter; according to the liquid level height and the pesticide box state, the unmanned equipment is controlled to conduct spraying operation or return flight operation. By means of the technical means, the problem that in the prior art, unmanned equipment triggers return flight operation by mistake due to liquid level detection errors is solved, and the spraying operation effect of the unmanned equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to a spraying operation method, device, unmanned equipment and storage medium. Background Art

[0002] With the rapid development of unmanned equipment technology, it is widely used in various scenarios. Especially in agricultural scenarios, unmanned equipment can be equipped with various agricultural tools to achieve different types of operations. For example, unmanned equipment can be equipped with a spraying device to water and spray plants in the farmland. When the unmanned equipment detects that the liquid in the spraying device has been sprayed, it can return to the supply point to replenish the liquid or end the current operation and return home, realizing the fully autonomous operation of the unmanned equipment.

[0003] In the prior art, unmanned equipment can detect the liquid level of the spraying device through the liquid level radar installed on the spraying device, and trigger the return operation when the liquid level is equal to zero. However, the foaming of the liquid in the spraying device will affect the detection accuracy of the liquid level radar, causing the unmanned equipment to mistakenly trigger the return operation and continue the spraying operation when the medicine box is empty, affecting the spraying effect of the unmanned equipment. Summary of the invention

[0004] The present application provides a spraying operation method, device, unmanned equipment and storage medium, which solves the problem of unmanned equipment triggering erroneous operation due to liquid level detection errors in the prior art, and improves the spraying operation effect of the unmanned equipment.

[0005] In a first aspect, the present application provides a spraying operation method, which is applied to an unmanned device mounted with a spraying device, wherein the spraying device includes a medicine box, a liquid level radar is installed on the top of the medicine box, and a float liquid level gauge is installed on the bottom of the medicine box, and the method includes:

[0006] Detecting the liquid level height of the medicine box by means of the liquid level radar;

[0007] Detecting the state of the medicine box by means of the float level gauge;

[0008] According to the liquid level height and the status of the medicine box, the unmanned equipment is controlled to perform spraying operations or return operations.

[0009] In a second aspect, the present application provides a spraying operation device, which is applied to an unmanned device mounted with a spraying device, wherein the spraying device comprises a medicine box, a liquid level radar is installed on the top of the medicine box, and a float liquid level gauge is installed on the bottom of the medicine box, and the device comprises:

[0010] A first detection module is configured to detect the liquid level height of the medicine box through the liquid level radar;

[0011] A second detection module is configured to detect the state of the medicine box through the float level gauge;

[0012] The operation control module is configured to control the unmanned equipment to perform spraying operations or return operations according to the liquid level height and the status of the medicine box.

[0013] In a third aspect, the present application provides an unmanned device, including:

[0014] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the spraying operation method as described in the first aspect.

[0015] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the spraying method as described in the first aspect.

[0016] In the present application, a float level gauge and a liquid level radar are respectively installed at the bottom and top of the medicine box of the spraying device carried by the unmanned equipment, so that the liquid level height of the medicine box is detected by sending a detection signal from top to bottom by the liquid level radar, and the float level gauge is used to detect whether the medicine box is empty or filled based on whether the float is close to the Hall sensor. It can accurately judge whether the medicine box is actually empty or filled based on the liquid level height and the state of the medicine box, and control the unmanned equipment to return when the medicine box is empty, and control the unmanned equipment to spray when the medicine box is filled. Through the above technical means, the actual state of the medicine box is accurately judged by the float level gauge and the liquid level radar, so that the unmanned equipment can continue the spraying operation when there is still a surplus in the medicine box to avoid returning early, and return when the medicine box is empty to avoid empty spraying, which solves the problem of unmanned equipment triggering misoperation due to liquid level detection errors in the prior art, improves the spraying operation effect of the unmanned equipment, and improves the spraying operation effect of the unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a spraying method provided in an embodiment of the present application;

[0018] Figure 2 is a cross-sectional view of a medicine box provided in an embodiment of the present application;

[0019] Figure 3 It is a flow chart for determining the liquid level height of the medicine box provided in an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of the structure of a float level gauge provided in an embodiment of the present application;

[0021] Figure 5This is a flow chart of controlling unmanned equipment to perform return operation or spraying operation provided by an embodiment of the present application;

[0022] Figure 6 It is a structural schematic diagram of a spraying operation device provided in an embodiment of the present application;

[0023] Figure 7 It is a structural schematic diagram of an unmanned device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0025] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0026] In the existing relevant implementation methods, the unmanned equipment can detect the liquid level height of the spraying device through the liquid level radar installed on the spraying device, and trigger the return operation when the liquid level height is equal to zero. However, the foaming of the liquid in the spraying device will affect the detection accuracy of the liquid level radar and misjudge the liquid level height of the spraying device. Alternatively, the remaining liquid weight of the spraying device is determined by a weighing sensor, but the weighing sensor is easily disturbed by vibration and impact, and is greatly affected by the ambient temperature, and is also prone to misjudgment during flight. Therefore, if the above sensors are used alone in the unmanned equipment to detect the remaining liquid amount of the spraying device, it is easy to cause the unmanned equipment to return early before the liquid is sprayed or continue to fly and spray in vain after the liquid is sprayed, so that some plants in the farmland are not sprayed with the liquid, affecting the spraying effect of the unmanned equipment.

[0027] In order to solve the problem in the above-mentioned prior art that the unmanned equipment mistakenly triggers the return operation due to liquid level detection errors or continues the spraying operation when the medicine box is empty, the embodiments of the present application provide a spraying operation method, device, equipment and storage medium, so as to accurately detect the status of the medicine box through the liquid level radar and the float level gauge, and then accurately control the unmanned equipment to perform spraying operations or return operations.

[0028] The spraying operation method provided in this embodiment can be performed by an unmanned device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities, or one physical entity. Among them, the unmanned device refers to a flying device or ground platform that operates according to remote control instructions or preset instructions, such as a drone and an unmanned vehicle. The unmanned device is mounted with a spraying device to spray the liquid medicine on the plants in the farmland through the spraying device during the operation.

[0029] The unmanned device is installed with at least one type of operating system, and the unmanned device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the unmanned device has at least an application that can execute the spraying operation method.

[0030] For ease of understanding, this embodiment is described by taking unmanned equipment as the main body of the spraying operation method as an example.

[0031] Figure 1 A flow chart of a spraying method provided in an embodiment of the present application is given. Figure 1 , the spraying operation method specifically includes:

[0032] S110, detecting the liquid level of the medicine box by means of a liquid level radar.

[0033] For example, Figure 2is a cross-sectional view of the medicine box provided in the embodiment of the present application. Figure 2 As shown, a liquid level radar 11 is installed on the top of the medicine box 10, and the liquid level radar 11 can send a detection signal from top to bottom to detect the height information of the liquid in the medicine box 10. Among them, the liquid level height of the medicine box 10 is the height information of the liquid in the medicine box 10.

[0034] In this embodiment, Figure 3 1 is a flow chart for determining the liquid level height of the medicine box provided in an embodiment of the present application. Figure 3 As shown, the step of determining the liquid level height of the medicine box includes S1101-S1102:

[0035] S1101. Control the liquid level radar to send a detection signal to the liquid level of the medicine box.

[0036] S1102. When a detection signal is received, determine the liquid level of the medicine box according to the difference between the sending time and the receiving time of the detection signal.

[0037] Among them, the detection signal is the electromagnetic wave signal sent by the liquid level radar. The liquid level radar sends an electromagnetic wave signal from the top of the medicine box to the medicine liquid in the medicine box. The electromagnetic wave signal is reflected back after hitting an object (which may be the liquid surface of the medicine liquid or the bottom of the medicine box). When the liquid level radar receives the reflected electromagnetic wave signal, it determines the distance between the liquid level radar and the object hit by the electromagnetic wave signal based on the difference between the sending time and the receiving time of the electromagnetic wave signal and the intensity of the reflected electromagnetic wave signal. The liquid level height of the medicine box is obtained by subtracting the distance between the liquid level radar and the object hit by the electromagnetic wave signal from the height of the medicine box (that is, the distance from the top of the medicine box to the bottom of the medicine box). When the distance between the liquid level radar and the object hit by the electromagnetic wave signal is equal to the height of the medicine box, it indicates that the object hit by the electromagnetic wave signal is the bottom of the medicine box, that is, the liquid level height measured by the liquid level radar is equal to zero. When the distance between the liquid level radar and the object hit by the electromagnetic wave signal is less than the height of the medicine box, it indicates that the object hit by the electromagnetic wave signal is the liquid surface, that is, the liquid level height measured by the liquid level radar is greater than zero. This embodiment can accurately detect the distance between the liquid level radar and the object encountered by the electromagnetic wave signal through the time difference between the transmission and reception of the electromagnetic wave signal, so as to improve the detection accuracy of the liquid level height by the liquid level radar.

[0038] It should be noted that when the liquid medicine in the medicine box is bubbling, the object sprayed by the electromagnetic wave signal is foam, resulting in the liquid level height measured by the liquid level radar being greater than zero when the liquid medicine in the medicine box has been sprayed out. Alternatively, when the unmanned equipment shakes or tilts, the liquid medicine in the medicine box also fluctuates and exposes the bottom of the medicine box, resulting in the liquid level height measured by the liquid level radar being equal to zero when there is still liquid medicine in the medicine box. Therefore, the liquid level height measured by the liquid level radar alone is not accurate enough. This embodiment also combines the status of the medicine box measured by the float level gauge to determine the actual status of the medicine box, so as to ensure the accuracy of the operation of the unmanned equipment.

[0039] S120, detecting the status of the medicine box through a float level gauge.

[0040] refer to Figure 2 A float level gauge 12 is installed at the bottom of the medicine box 10. The float level gauge 12 can detect whether the medicine box 10 is in an empty box state or a material state by whether the float falls to the bottom of the medicine box 10.

[0041] In one embodiment, Figure 4 Schematic diagram of the structure of the float level gauge provided in the embodiment of the present application. Figure 4 As shown, the float level gauge 12 includes a float 121, a Hall sensor 122, a vertical rod 123 and a limiter 124. A magnetic ring is arranged inside the float 121. The float 121 is arranged on the vertical rod 123 and moves up and down along the vertical rod 123. The limiter 124 is connected to the vertical rod 123 and is located above the float 121. Among them, the float 121, the vertical rod 123 and the limiter 124 are fixed on the inside of the medicine box 10, and the Hall sensor 122 is fixed on the outside of the medicine box 10. When the height of the liquid medicine in the medicine box 10 is higher than the installation height of the limiter 124, the float 121 will be stuck under the limiter 124. As the liquid medicine is sprayed, when the height of the liquid medicine in the medicine box 10 is lower than the limiter 124, the height of the float 121 is the same as the height of the liquid medicine. When the liquid medicine in the medicine box 10 is sprayed, the float 121 falls to the bottom of the medicine box 10. Since a magnetic ring is provided inside the float 121, as the height of the float 121 on the vertical rod 123 changes, the distance between the magnetic ring and the Hall sensor 122 also changes, causing the magnetic induction intensity detected by the Hall sensor 122 to also change. Based on the magnetic induction intensity detected by the Hall sensor 122, it can be determined whether the float 121 falls on the bottom of the medicine box 10, and then it can be determined whether the medicine box 10 is in an empty box state or a material state. The float level gauge 12 used in this embodiment can determine the state of the medicine box 10 by limiting the float 121 to a certain height above the bottom of the medicine box 10. There is no need to set a vertical rod 123 of a corresponding length based on the height of the medicine box 10, which greatly improves the versatility of the float level gauge 12, and the limiter 124 can limit the moving height of the float to prevent the float 121 from leaving the vertical rod 123 under the action of buoyancy, thereby ensuring the detection reliability of the float level gauge 12.

[0042] In this embodiment, when the Hall sensor detects an induction signal, it is determined that the medicine box is in an empty box state; when the Hall sensor does not detect an induction signal, it is determined that the medicine box is in a filled state. Among them, the induction signal is a signal triggered by the Hall sensor detecting that the magnetic induction intensity reaches a preset intensity threshold, and the preset intensity threshold is the maximum magnetic induction intensity that the Hall sensor can detect during the movement of the float. Exemplarily, the induction signal is triggered when the magnetic induction intensity currently detected by the Hall sensor is equal to the preset intensity threshold. The unmanned equipment can determine that the float has fallen to the bottom of the medicine box based on the induction signal, and then determine that the medicine box is in an empty box state. When the magnetic induction intensity currently detected by the Hall sensor is less than the preset intensity threshold, the induction signal is not triggered. The unmanned equipment can determine that the float has not fallen to the bottom of the medicine box, and then determine that the medicine box is in a filled state. This embodiment uses the Hall sensor to accurately detect the position of the float, and then accurately judge the state of the medicine box, which is conducive to improving the detection accuracy of the medicine box state.

[0043] S130. According to the liquid level and the status of the medicine box, the unmanned equipment is controlled to perform spraying operation or return operation.

[0044] Exemplarily, the signal lines of the liquid level radar and the Hall sensor in the float level gauge are connected to the junction box of the spraying device, and the bus of the junction box is connected to the control system of the unmanned equipment. The control system of the unmanned equipment can receive the liquid level and the status of the medicine box transmitted by the liquid level radar and the Hall sensor through the junction box. The unmanned equipment can determine whether there is liquid medicine in the medicine box based on the liquid level measured by the liquid level radar and the status of the medicine box measured by the float level gauge. When there is liquid medicine in the medicine box, the unmanned equipment continues the spraying operation to avoid returning early. When there is no liquid medicine in the medicine box, the unmanned equipment performs the return operation to avoid empty spraying, ensuring that all plants in the farmland are sprayed with liquid medicine, and ensuring the spraying effect of the unmanned equipment.

[0045] In one embodiment, when the liquid level is greater than zero and the medicine box is in a state of having material, it can be determined that there is liquid medicine in the medicine box, and then the unmanned equipment can be controlled to perform a spraying operation; when the liquid level is equal to zero and the medicine box is in an empty box state, it can be determined that there is no liquid medicine in the medicine box, and then the unmanned equipment can be controlled to perform a return operation. This embodiment determines the actual state of the medicine box by combining the detection results of the liquid level radar and the float level gauge, which greatly improves the detection accuracy of the actual state of the medicine box.

[0046] In another embodiment, reference Figure 2 and Figure 4The medicine box 10 is wide at the top and narrow at the bottom. When there is liquid medicine in the medicine box 10, the liquid medicine 10 will always cover the bottom of the medicine box, so that the float 121 will not fall to the bottom of the medicine box 10 due to the buoyancy of the liquid medicine, and the Hall sensor 122 will not detect the sensing signal. Moreover, the float level gauge 12 is almost unaffected by the foam, so the state of the medicine box 10 detected by the float level gauge 12 can be regarded as the actual state of the medicine box 10, and the unmanned equipment can be controlled to perform a return operation or a spraying operation based on the state of the medicine box 10 detected by the float level gauge 12. In this embodiment, Figure 5 This is a flow chart of controlling unmanned equipment to perform return operation or spraying operation provided by an embodiment of the present application. Figure 5 As shown, the steps of controlling the unmanned equipment to perform a return operation or a spraying operation specifically include S1301-S1302:

[0047] S1301. When the medicine box is in an empty box state, control the unmanned equipment to perform a return operation, and send the empty box state to the remote control device so that the remote control device displays the empty box state.

[0048] For example, if the liquid level height of the medicine box detected by the liquid level radar is greater than zero and the float level gauge detects that the medicine box is in an empty state, the liquid level height detected by the liquid level radar is ignored and it is determined that there is no liquid medicine in the medicine box based on the state of the medicine box detected by the float level gauge, and the unmanned equipment is controlled to perform a return operation to avoid empty spraying. If the liquid level height of the medicine box detected by the liquid level radar is equal to zero and the float level gauge detects that the medicine box is in an empty state, it is determined that there is no liquid medicine in the medicine box based on the liquid level height detected by the liquid level radar and the state of the medicine box detected by the float level gauge, and the unmanned equipment is controlled to perform a return operation to avoid empty spraying.

[0049] Furthermore, the unmanned equipment sends the medicine box status detected by the float level gauge to the remote control device, and the remote control device displays the information that the medicine box is in an empty box state on the corresponding screen, so that the staff can view the status of the medicine box through the screen. In this embodiment, when the liquid level is greater than zero, the empty box state is sent to the remote control device; when the liquid level is equal to zero, the empty box state and the liquid level are sent to the remote control device. Exemplarily, when the liquid level is greater than zero and the medicine box is in an empty box state, it indicates that the detection result of the liquid level radar is inaccurate, so only the medicine box state is sent to the remote control device to avoid the remote control device from mistakenly displaying the liquid level height that is mistakenly detected by the liquid level radar. When the liquid level is equal to zero and the medicine box is in an empty box state, it indicates that the detection result of the liquid level radar is accurate, so the liquid level and the medicine box state can be sent to the remote control device together, so that the staff can know that the detection result of the liquid level radar is accurate while determining the state of the medicine box.

[0050] S1302. When the medicine box is filled with material, control the unmanned equipment to perform spraying operations, and send the liquid level height to the remote control device so that the remote control device displays the liquid level height.

[0051] For example, if the liquid level height of the medicine box detected by the liquid level radar is equal to zero and the float level gauge detects that the medicine box is in a state of material, the liquid level height detected by the liquid level radar is ignored and based on the fact that the float level gauge detects that the medicine box is in a state of material, it is determined that there is liquid medicine in the medicine box, and then the unmanned equipment is controlled to perform spraying operations to avoid early return. If the liquid level height of the medicine box detected by the liquid level radar is greater than zero and the float level gauge detects that the medicine box is in a state of material, it is determined that there is liquid medicine in the medicine box based on the liquid level height detected by the liquid level radar and the state of the medicine box detected by the float level gauge, and then the unmanned equipment is controlled to perform spraying operations to avoid early return.

[0052] Furthermore, the unmanned equipment sends the liquid level height detected by the liquid level radar to the remote control device, and the remote control device displays the liquid level height on the corresponding screen so that the staff can view the liquid level height of the medicine box through the screen. In this embodiment, when the liquid level height is greater than zero, the liquid level height and the material status are sent to the remote control device; when the liquid level height is equal to zero, the material status is sent to the remote control device. Exemplarily, when the liquid level height is greater than zero and the medicine box is in a material state, it indicates that the detection result of the liquid level radar is accurate, so the liquid level height and the medicine box status can be sent to the remote control device together, so that the staff can know the specific liquid level height of the medicine box while determining the medicine box status. When the liquid level height is equal to zero and the medicine box is in a material state, it indicates that the detection result of the liquid level radar is inaccurate, so only the medicine box status can be sent to the remote control device to avoid the remote control device from mistakenly displaying the liquid level height mistakenly detected by the liquid level radar.

[0053] In summary, the spraying operation method provided by the embodiment of the present application is to install a float level gauge and a liquid level radar at the bottom and top of the medicine box of the spraying device carried by the unmanned equipment, respectively, so as to detect the liquid level height of the medicine box by sending a detection signal from top to bottom through the liquid level radar, and to detect whether the medicine box is empty or filled with material based on whether the float is close to the Hall sensor through the float level gauge. It can accurately judge whether the medicine box is actually empty or filled with material based on the liquid level height and the state of the medicine box, and control the unmanned equipment to return when the medicine box is empty, and control the unmanned equipment to perform spraying when the medicine box is filled with material. Through the above-mentioned technical means, the actual state of the medicine box is accurately judged by the float level gauge and the liquid level radar, so that the unmanned equipment can continue the spraying operation when there is still a surplus in the medicine box to avoid returning early, and return when the medicine box is empty to avoid empty spraying, which solves the problem of unmanned equipment triggering misoperation due to liquid level detection errors in the prior art, improves the spraying operation effect of the unmanned equipment, and improves the spraying operation effect of the unmanned equipment.

[0054] Based on the above embodiments, Figure 6 This is a schematic diagram of the structure of a spraying operation device provided in an embodiment of the present application. Figure 6 The spraying operation device provided in this embodiment specifically includes: a first detection module 21, a second detection module 22 and an operation control module 23.

[0055] The first detection module 21 is configured to detect the liquid level of the medicine box through a liquid level radar;

[0056] The second detection module 22 is configured to detect the state of the medicine box through a float level gauge;

[0057] The operation control module 23 is configured to control the unmanned equipment to perform spraying operations or return operations according to the liquid level height and the status of the medicine box.

[0058] On the basis of the above embodiment, the operation control module 23 includes: a return unit, which is configured to control the unmanned equipment to perform a return operation when the medicine box is in an empty box state, and send the empty box state to the remote control device so that the remote control device displays the empty box state; a spraying operation unit, which is configured to control the unmanned equipment to perform a spraying operation when the medicine box is in a filled state, and send the liquid level height to the remote control device so that the remote control device displays the liquid level height.

[0059] Based on the above embodiment, the return unit includes: a first data sending subunit, configured to send the empty tank status to the remote control device when the liquid level height is greater than zero; a second data sending subunit, configured to send the empty tank status and the liquid level height to the remote control device when the liquid level height is equal to zero.

[0060] Based on the above embodiment, the spraying operation unit includes: a third data sending subunit, which is configured to send the liquid level height and the material status to the remote control device when the liquid level height is greater than zero; and a fourth data sending subunit, which is configured to send the material status to the remote control device when the liquid level height is equal to zero.

[0061] Based on the above embodiment, the first detection module 21 includes: a detection signal sending unit, configured to control the liquid level radar to send a detection signal to the liquid surface of the medicine box; a height determination unit, configured to determine the liquid level height of the medicine box according to the difference between the sending time and the receiving time of the detection signal when the detection signal is received.

[0062] Based on the above embodiment, the second detection module 22 includes: a first state determination unit, configured to determine that the medicine box is in an empty box state when the Hall sensor of the float level gauge detects an induction signal; a second state determination unit, configured to determine that the medicine box is in a filled state when the Hall sensor of the float level gauge does not detect an induction signal.

[0063] Based on the above embodiment, the float level gauge includes a float, a Hall sensor, a vertical rod and a limiter. A magnetic ring is arranged inside the float. The float is arranged on the vertical rod and moves up and down along the vertical rod. The limiter is connected to the vertical rod and is located above the float.

[0064] As mentioned above, the spraying operation device provided by the embodiment of the present application is respectively installed with a float level gauge and a liquid level radar at the bottom and top of the medicine box of the spraying device carried by the unmanned equipment, so as to detect the liquid level height of the medicine box by sending a detection signal from top to bottom through the liquid level radar, and to detect whether the medicine box is empty or filled with material based on whether the float is close to the Hall sensor through the float level gauge. It can accurately judge whether the medicine box is actually empty or filled with material based on the liquid level height and the state of the medicine box, and control the unmanned equipment to return when the medicine box is empty, and control the unmanned equipment to perform spraying operation when the medicine box is filled with material. Through the above technical means, the actual state of the medicine box is accurately judged by the float level gauge and the liquid level radar, so that the unmanned equipment can continue the spraying operation when there is still a surplus in the medicine box to avoid returning early, and return when the medicine box is empty to avoid empty spraying, which solves the problem of unmanned equipment triggering misoperation due to liquid level detection error in the prior art, improves the spraying operation effect of the unmanned equipment, and improves the spraying operation effect of the unmanned equipment.

[0065] The spraying operation device provided in the embodiment of the present application can be used to execute the spraying operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0066] Figure 7 This is a schematic diagram of the structure of an unmanned device provided in an embodiment of the present application, with reference to Figure 7 The unmanned device includes: a processor 31, a memory 32, a communication device 33, an input device 34 and an output device 35. The number of processors 31 in the unmanned device can be one or more, and the number of memories 32 in the unmanned device can be one or more. The processor 31, memory 32, communication device 33, input device 34 and output device 35 of the unmanned device can be connected through a bus or other methods.

[0067] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the spraying operation method of any embodiment of the present application (for example, the first detection module 21, the second detection module 22 and the operation control module 23 in the spraying operation device). The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 32 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0068] The communication device 33 is used for data transmission.

[0069] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 32, that is, realizes the above-mentioned spraying operation method.

[0070] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0071] The unmanned equipment provided above can be used to execute the spraying operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0072] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a spraying operation method, the spraying operation method comprising: detecting the liquid level of the medicine box by a liquid level radar; detecting the status of the medicine box by a float level gauge; and controlling the unmanned equipment to perform a spraying operation or a return operation according to the liquid level and the status of the medicine box.

[0073] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0074] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above spraying operation method, can also execute related operations in the spraying operation method provided in any embodiment of the present application.

[0075] The spraying operation device, storage medium and unmanned equipment provided in the above embodiments can execute the spraying operation method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the spraying operation method provided in any embodiment of the present application.

[0076] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A spraying method, characterized in that: An unmanned device applied to a mounted spraying device, wherein the spraying device comprises a medicine box, a liquid level radar is installed on the medicine box, and a float liquid level gauge is installed on the bottom of the medicine box. The method comprises: Detecting the liquid level height of the medicine box by the liquid level radar; Detecting the state of the medicine box by means of the float level gauge; According to the liquid level height and the status of the medicine box, the unmanned equipment is controlled to perform spraying operations or return operations.

2. The spraying method according to claim 1, characterized in that: The controlling the unmanned equipment to perform spraying operation or return operation according to the liquid level height and the medicine box state includes: When the medicine box is in an empty box state, controlling the unmanned equipment to perform a return operation, and sending the empty box state to the remote control device so that the remote control device displays the empty box state; When the medicine box is filled with material, the unmanned equipment is controlled to perform a spraying operation, and the liquid level height is sent to the remote control device so that the remote control device displays the liquid level height.

3. The spraying method according to claim 2, characterized in that: The sending the empty box state to the remote control device includes: When the liquid level height is greater than zero, sending the empty tank state to the remote control device; When the liquid level height is equal to zero, the empty tank state and the liquid level height are sent to the remote control device.

4. The spraying method according to claim 2, characterized in that: The step of sending the liquid level height to the remote control device comprises: When the liquid level height is greater than zero, the liquid level height and the material status are sent to the remote control device; When the liquid level height is equal to zero, the material presence status is sent to the remote control device.

5. The spraying method according to claim 1, characterized in that: The detecting the liquid level height of the medicine box by the liquid level radar comprises: Controlling the liquid level radar to send a detection signal to the liquid level of the medicine box; When the detection signal is received, the liquid level height of the medicine box is determined according to the difference between the sending time and the receiving time of the detection signal.

6. The spraying method according to claim 1, characterized in that: The method of detecting the state of the medicine box by using the float level gauge includes: When the Hall sensor of the float level gauge detects an induction signal, determining that the medicine box is in an empty box state; When the Hall sensor of the float level gauge does not detect an induction signal, it is determined that the medicine box is in a filled state.

7. The spraying method according to claim 6, characterized in that: The float level gauge comprises a float, a Hall sensor, a vertical rod and a stopper, wherein a magnetic ring is arranged inside the float, the float is arranged on the vertical rod and moves up and down along the vertical rod, and the stopper is connected to the vertical rod and is located above the float.

8. A spraying device, characterized in that: An unmanned device used for mounting a spraying device, the spraying device includes a medicine box, the medicine box is equipped with a liquid level radar, a float level gauge is installed at the bottom of the medicine box, and the device includes: A first detection module is configured to detect the liquid level height of the medicine box through the liquid level radar; A second detection module is configured to detect the state of the medicine box through the float level gauge; The operation control module is configured to control the unmanned equipment to perform spraying operations or return operations according to the liquid level height and the status of the medicine box.

9. An unmanned device, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the spraying operation method as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the spraying operation method according to any one of claims 1 to 7 when executed by a computer processor.

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