Solid material box discharging control method, device and equipment of unmanned equipment and medium

Abstract

The embodiment of the invention discloses a solid material box discharging control method, device and equipment of unmanned equipment and a medium, and relates to the technical field of unmanned equipment. The method comprises the steps that in the process that unmanned equipment carries solid materials through a solid material box, under the condition that a swing trigger signal is detected, a swing control instruction is generated; and controlling a solid material box of the unmanned equipment to swing according to the swing control instruction. According to the technical scheme, on the basis that the structure of the unmanned equipment is not changed, under the condition that the solid material box is detected to be hung on the wall, the unmanned equipment is controlled to swing or the solid material box is controlled to swing, the problem that solid materials are hung on the wall can be effectively solved while the unmanned equipment works normally, the actual sowing rate and uniformity of each sowing task are improved, and the labor intensity of workers is reduced. The method is compatible with more types of materials, and the application scene is expanded.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned equipment, and in particular to a method, device, equipment and medium for controlling the unloading of solid material boxes of unmanned equipment. Background Art

[0002] In recent years, unmanned equipment technology has developed rapidly and has been gradually applied to various industries. In the agricultural field, unmanned equipment can be used to spread materials such as fertilizers, feeds, and seeds. In order to obtain a larger volume and facilitate loading, the box for loading materials is usually designed with inclined walls and closed at the bottom. However, such a design makes it easy for damp fertilizers or wet seeds and other adhesive materials to hang on the box wall, resulting in these materials not being spread evenly or completely.

[0003] In order to solve the problem of solid materials hanging on the box wall, some designs need to modify the material box, which requires modification of the already finalized unmanned equipment. The hardware transformation is relatively large and brings extremely high costs. There are also designs that assist in unloading by adding a stirring device, which requires additional power supply to the stirring device, which not only increases the hardware cost, but also increases the power consumption of the unmanned equipment, affecting the endurance. Therefore, how to solve the problem of material hanging on the wall without changing the structure of the unmanned equipment and without increasing additional power consumption is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, equipment and medium for controlling the unloading of solid material boxes of unmanned equipment. To address the problem of solid material hanging on the side wall of the solid material box, the unmanned equipment is controlled to swing, or the solid material box is controlled to swing, without changing the structure of the unmanned equipment, to solve the problem of solid material hanging on the side wall.

[0005] In a first aspect, an embodiment of the present invention provides a solid material box unloading control method for unmanned equipment, the method comprising:

[0006] When the unmanned equipment is carrying solid materials through the solid material box, a swing control instruction is generated when a swing trigger signal is detected;

[0007] The solid material box of the unmanned equipment is controlled to sway according to the sway control instruction.

[0008] In a second aspect, an embodiment of the present invention further provides a solid material box unloading control device for unmanned equipment, the device comprising:

[0009] A control instruction generation module, used for generating a swing control instruction when a swing trigger signal is detected during the process of unmanned equipment carrying solid materials through a solid material box;

[0010] A control instruction execution module is used to control the swing of the solid material box of the unmanned equipment according to the swing control instruction.

[0011] In the third aspect, an embodiment of the present invention further provides a solid material box unloading control device for unmanned equipment, the device comprising: a solid material box, a storage device, and one or more processors; the storage device is used to store 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 solid material box unloading control method for unmanned equipment described in the embodiment of the present invention.

[0012] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the solid material box unloading control method for unmanned equipment described in an embodiment of the present invention.

[0013] In an embodiment of the present invention, when the unmanned equipment carries solid materials through a solid material box, a swing control instruction is generated when a swing trigger signal is detected; the solid material box of the unmanned equipment is controlled to swing according to the swing control instruction. This solution, without changing the structure of the unmanned equipment, controls the unmanned equipment to swing, or controls the solid material box to swing when the solid material box is detected to be hanging on the wall. This can effectively solve the problem of solid material hanging on the wall while the unmanned equipment is working normally, improve the actual spreading rate and uniformity of each spreading task, so as to be compatible with more types of materials and expand the applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of a flow chart of a solid material box unloading control method for unmanned equipment provided in the first embodiment of the present invention;

[0015] Figure 2 A schematic diagram of the swinging of a solid material box of an unmanned device provided in the first embodiment of the present invention;

[0016] Figure 3 A schematic diagram of a solid material box provided with an inertial collision body provided in Embodiment 1 of the present invention;

[0017] Figure 4 A schematic flow chart of a solid material box unloading control method for unmanned equipment provided in the second embodiment of the present invention;

[0018] Figure 5 A schematic diagram showing that the sensed information in the solid material box provided in the second embodiment of the present invention satisfies the second condition;

[0019] Figure 6 A schematic diagram of a flow chart of a solid material box unloading control method for unmanned equipment provided in Embodiment 3 of the present invention;

[0020] Figure 7 A schematic diagram of a module of a solid material box unloading control device for unmanned equipment provided in a fourth embodiment of the present invention;

[0021] Figure 8 This is a schematic diagram of the structure of a solid material box unloading control device for unmanned equipment provided in Example 5 of the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0023] 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.

[0024] The solid material box unloading control method for unmanned equipment provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0025] This technical solution uses simple user operation instructions to achieve the planning of the working section in the working area. During the planning process, the first boundary is determined first, and then the reference working section is determined based on the operation instruction, and then other working sections can be determined. Finally, after the second boundary is determined, the planning results for each working section can be obtained. In this process, compared with the existing technology, there is no need to enter the inflection point position of the boundary line one by one, which simplifies the use process of the mobile device.

[0026] In addition, there is also a technology that needs to determine the working area based on the boundary line, and finally determine the shape and parameters of the crop rows one by one from the working area, and then complete the planning of the working area. Compared with this solution, this solution completely removes the restrictions on the working area. Instead of starting with the determination of the working area, it can easily and quickly determine the benchmark working section and other working sections to achieve rapid working section planning. Therefore, the two solutions are also designed from different perspectives, and this solution can overcome the technical barrier of prioritizing the determination of the working area, which brings completely different usage performance for the use of movable equipment and the rapid operation of crop rows, and the effect is more significant.

[0027] Embodiment 1

[0028] Figure 1 The following is a flow chart of a solid material box unloading control method for unmanned equipment provided in the first embodiment of the present invention. Figure 1 As shown, the specific steps include:

[0029] S101, when the unmanned equipment is carrying solid materials through a solid material box, a swing control instruction is generated when a swing trigger signal is detected.

[0030] First, the present application is applicable to the scenario where unmanned equipment spreads solid materials and the solid materials are attached to the wall of the material box. Specifically, the generation and execution of the swing control instruction can be executed by the unmanned equipment, and through the swing of the solid material box, the solid materials attached to the wall of the material box slide down and are discharged outside the unmanned equipment.

[0031] Based on the above usage scenarios, it can be understood that the executor of the present application can be the unmanned equipment, which includes but is not limited to drones and unmanned vehicles with a swing device to drive the solid material box to swing.

[0032] Unmanned equipment can refer to equipment that can complete tasks or work autonomously without the need for a user to follow the equipment for control or intervention. Specifically, a drone is an aircraft that can fly in the air without the need for user control; an unmanned vehicle is a vehicle that can drive autonomously on a route without the need for a human driver to control it.

[0033] A solid material bin is a container or box used to store and transport solid materials. It can be made of durable and lightweight materials, such as plastic. Solid materials can include fertilizers, feed, seeds, etc.

[0034] The swing trigger signal can be a form of information that transmits the information that the solid material box of the unmanned equipment needs to be controlled to swing. It can be divided into two types: manually set swing signal and automatically set swing signal. The manually set swing signal can be a swing trigger signal issued by the user manually operating the drone remote control device. The automatically set swing signal is a swing trigger signal that the unmanned equipment automatically detects that the solid material box of the unmanned equipment needs to be controlled to swing.

[0035] There are five ways to detect the swing trigger signal, namely: when a swing control instruction is received, it is determined that the swing trigger signal is detected; when the operating time reaches the swing control cycle, it is determined that the swing trigger signal is detected; when the operating state is in the target state, it is determined that the swing trigger signal is detected; when the unloading information of the solid material box meets the first condition, it is determined that the swing trigger signal is detected; when the perception information in the solid material box meets the second condition, it is determined that the swing trigger signal is detected.

[0036] The swing control instruction may be a series of computer instructions for controlling the swing of the solid material box of the unmanned equipment. The control instruction may be generated by reading two parameters of the swing posture amplitude A and / or the swing period T and inputting them into a pre-written program, and the program generates a binary code according to the two parameters of the swing posture amplitude A and / or the swing period T.

[0037] In this technical solution, optionally, before generating the swing control instruction, the method further includes:

[0038] Get material information of solid materials;

[0039] The swing attitude amplitude and / or the swing period of the swing control instruction are determined according to the material information.

[0040] The material information may be the type of solid material, that is, the detailed type of the above-mentioned fertilizer, feed, and seed, etc. The user may manually select the type, and the type information may be obtained by reading the user's selection operation result.

[0041] Different solid materials have different degrees of stickiness. For example, ammonium nitrate fertilizer is a commonly used nitrogen fertilizer with low stickiness, which can be more easily dispersed and dissolved in the soil. Organic fertilizers contain organic matter and fine particles, so they are more likely to adhere to the soil surface or near the roots of plants, that is, they have higher stickiness. Using different swing posture amplitudes and / or swing cycles for swinging can correspond to different solid materials and achieve the dual effects of avoiding adhesion and saving energy. Therefore, only by using different corresponding swing posture amplitudes and / or swing cycles for solid materials with different degrees of stickiness can the effect of the swing of the solid material box be fully utilized, so that all solid materials adhering to the box wall can slide off and fall off.

[0042] The swing attitude amplitude A can be used to describe the deviation angle or amplitude of the solid material box during the swing motion. The swing period T refers to the time interval for the solid material box to complete a complete swing. The user can manually enter the swing attitude amplitude and / or swing period determined based on historical experience, or select the recommended swing attitude amplitude and / or swing period provided by the manufacturer.

[0043] In addition, the user can also select the form of the swing signal. A swing signal is a signal that changes between two or more values ​​in a periodic manner within a certain period of time. The form of the swing signal includes but is not limited to a sine wave signal, a triangle wave signal, and a rectangular wave signal. Specifically,

[0044] Sinusoidal signal:

[0045] Triangular wave signal:

[0046] Rectangular wave signal: Where k is an integer;

[0047] Among them, β is the control output attitude angle, and t is the difference between the current time point and the time point when the swing starts; For rounding down operations, the preset range program of the swing attitude amplitude A and the swing period T can be automatically limited according to the performance of the unmanned equipment.

[0048] In the subsequent process of controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction, the swing posture amplitude A, the swing period T and the form of the swing signal remain unchanged.

[0049] The advantage of this arrangement of the present solution is that by the user manually inputting the material information of the solid material as well as the swing posture amplitude and / or swing period, the present solution can have a higher degree of freedom and flexibility, so that it can be applied to more operating scenarios and meet various needs of users.

[0050] S102, controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction.

[0051] The unmanned equipment executes the swing control instruction, and controls the swing of the solid material box according to the parameters such as the swing attitude amplitude A, the swing period T and the form of the swing signal in the swing control instruction. If the unmanned equipment is a drone, the solid material box can be directly fixed in the drone, and the swing of the solid material box can be driven by controlling the swing of the unmanned equipment; if the unmanned equipment is an unmanned vehicle, the solid material box can be fixed in the unmanned vehicle by connecting a swing device, and the swing of the solid material box can be controlled by controlling the swing device.

[0052] In this technical solution, optionally, the unmanned equipment includes a drone;

[0053] Controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction includes:

[0054] According to the swing control instruction, the UAV is controlled to swing according to a preset rolling attitude angle so that the solid material box swings.

[0055] Figure 2 This is a schematic diagram of the swinging of the solid material box of the unmanned equipment provided in the first embodiment of the present invention. Figure 2 As shown, β is the control output attitude angle, that is, the overall inclination angle of the solid material box, α 1 is the slope of the right side of the solid tank when β is horizontal, α 2 It is the slope of the right side of the solid material box when the solid material box tilts to the left.

[0056] The UAV executes the sway control command and sways in the rolling direction. The rolling direction of the UAV refers to the direction in which the UAV rotates around its longitudinal axis. Since the solid material box is directly fixed to the UAV, the angle of rotation of the UAV around the longitudinal axis can be consistent with the control output attitude angle β. The control output attitude angle β of the solid material box changes with the change of the angle of rotation of the UAV around the longitudinal axis.

[0057] The control output attitude angle β of the solid material box changes. When the control output attitude angle β is not 0, α 2 Must be greater than α 1, that is, the slope of the material box wall must be greater than the initial state without swinging, the friction between the solid materials adhering to the material box wall and the material box wall is reduced, and the solid materials fall off and slide from the material box wall under the action of gravity. At the same time, during the swinging process of the solid material box, the solid material box can have a large acceleration in the left and right directions, which is conducive to the solid materials adhering to the material box wall to fall off and slide due to inertia. In addition, if there are solid materials inside the solid material box that are not adhering to the material box wall, the above-mentioned internal solid materials can collide with the material box wall during the swinging process of the solid material box, flush the solid materials adhering to the material box wall, causing them to fall off and slide, and at the same time, the above-mentioned internal solid materials can also collide with each other to break the compacted solid materials.

[0058] In the technical solution, optionally, an inertial collision body is further provided in the solid material box;

[0059] The swing control instruction is used to control the swing of the solid material box of the unmanned equipment so that the inertial collision body collides with the side wall of the solid material box.

[0060] Figure 3 A schematic diagram of a solid material box provided with an inertial collision body provided in Embodiment 1 of the present invention.

[0061] like Figure 3 As shown, the inertial collision body is suspended from the top of the solid material box by a line. When the solid material box is swinging, the inertial collision body device can hit the wall of the material box, causing the solid materials adhering to the wall of the material box to fall off and slide. The inertial collision body can be a small ball, and the length of the line suspending the small ball should be able to allow the small ball to hit the material box walls on both sides when swinging.

[0062] The advantage of this arrangement of the present invention is that, by providing an inertial collision body in the solid material box, the efficiency of the solid material adhering to and hanging on the wall of the material box falling off and sliding down as well as the actual spreading rate and uniformity of the solid material can be further improved.

[0063] In the example of the present application, when the unmanned equipment carries solid materials through the solid material box, a swing control instruction is generated when a swing trigger signal is detected; the solid material box of the unmanned equipment is controlled to swing according to the swing control instruction. This technical solution, without changing the structure of the unmanned equipment, controls the swing of the unmanned equipment or controls the swing of the solid material box when it is detected that the solid material box is hanging on the wall. This can effectively solve the problem of solid material hanging on the wall while the unmanned equipment is working normally, improve the actual spreading rate and uniformity of each spreading task, so as to be compatible with more types of materials and expand the applicable scenarios.

[0064] Embodiment 2

[0065] Figure 4A flow chart of a solid material box unloading control method for unmanned equipment provided in Example 2 of the present application. This solution makes a better improvement on the above-mentioned embodiment, specifically, the improvement is as follows: the process of detecting a swing trigger signal includes: when a swing control instruction is received, it is determined that a swing trigger signal is detected; or, when the operating time reaches the swing control cycle, it is determined that a swing trigger signal is detected; or, when the operating state is in the target state, it is determined that a swing trigger signal is detected; or, when the unloading information of the solid material box meets the first condition, it is determined that a swing trigger signal is detected; or, when the sensing information in the solid material box meets the second condition, it is determined that a swing trigger signal is detected.

[0066] like Figure 4 As shown, the specific steps include:

[0067] S401, when a swing control instruction is received, it is determined that a swing trigger signal is detected, and S406 is executed.

[0068] The swing control instruction may be an instruction issued by a user operating a remote control device to the unmanned device to control the swing of the solid material box of the unmanned device, and may be a digital signal, a pulse signal, or a wireless signal, etc. The unmanned device may receive the swing control instruction issued by the remote control device through a signal receiver. After receiving the swing control instruction, the unmanned device determines that a swing trigger signal is detected, and starts to execute the program that generates the swing control instruction.

[0069] S402, when the operation time reaches the swing control period, it is determined that a swing trigger signal is detected, and S406 is executed.

[0070] The swing control period may be the time interval between two swing control instructions executed by the solid material tank of the unmanned equipment. The operation time may be the time interval between the current time point and the time point when the unmanned equipment starts working. The operation time is divided by the swing control period. If the operation result is an integer, it is determined that the swing trigger signal is detected, that is, the program for generating the swing control instruction is executed.

[0071] S403, when the working state is in the target state, it is determined that a swing trigger signal is detected, and S406 is executed.

[0072] The operation state can be the work task currently performed by the unmanned equipment, which can be divided into a spreading state and a non-spreading state, and the target state is a non-spreading state. When the solid material is discharged outside the unmanned equipment, the operation state of the unmanned equipment is in a spreading state. When the solid material is not discharged outside the unmanned equipment, that is, when the unmanned equipment is turning or avoiding obstacles, the operation state of the unmanned equipment is in a non-spreading state (target state), and it is determined that a swing trigger signal is detected, that is, the program for generating a swing control instruction is executed.

[0073] S404: When the unloading information of the solid material box satisfies the first condition, it is determined that a swing trigger signal is detected, and S406 is executed.

[0074] The difference between the actual weight change of the solid material and the estimated weight change is the weight of the solid material adhering to the box wall. The larger the difference, the heavier and more solid material adhering to the box wall, and the solid material box needs to be shaken immediately. Therefore, the case where the unloading information meets the first condition can be the case where the actual weight change of the solid material is obviously inconsistent with the estimated weight change, that is, the difference between the actual weight change of the solid material and the estimated weight change is too large.

[0075] By comparing the actual weight change of the solid material with the estimated weight change in real time, when the difference between the actual weight change of the solid material and the estimated weight change reaches a preset threshold, it is determined that a swing trigger signal is detected, and the program for generating a swing control instruction is started.

[0076] In the technical solution, optionally, when the unloading information of the solid material box satisfies the first condition, determining that a swing trigger signal is detected includes:

[0077] When the first weight change data of the solid material box detected by the weight sensor does not match the theoretical material discharge weight data, it is determined that a swing trigger signal is detected;

[0078] or,

[0079] The second weight change data of the material is determined based on the material level change data of the solid material box detected by the material level sensor; when the second weight change data does not match the theoretical unloading weight data, it is determined that a swing trigger signal is detected; wherein the theoretical unloading weight data is determined based on the unloading control parameters.

[0080] The first weight change data △w 1 The actual weight change of the solid material in the solid material box can be directly measured by the weight sensor. The weight sensor is used to measure the initial weight of the solid material, and the current weight of the solid material is measured in real time. The difference between the current weight of the solid material and the initial weight is calculated as the first weight change data △w 1. Among them, the weight sensor is a sensor used to measure the weight or mass of an object. The working principle of the weight sensor can be in many ways, one of the common principles is strain gauge technology. The strain gauge is a metal sheet or film that will undergo a slight deformation or strain when subjected to external force. The strain gauge is pasted or installed on the bottom of the solid material box. When the solid material box is loaded with solid materials, the gravity of the solid materials is applied to the strain gauge, the strain gauge is deformed, and then the resistance value is changed. By measuring the resistance change of the strain gauge, the weight of the solid material can be obtained.

[0081] Theoretical material weight △w 2 It can be the estimated weight change of the solid material calculated by the spreading device. For example, the flow rate of the solid material can be calculated based on the size of the solid material box and the type of solid material and other material feeding control parameters, and then the estimated weight change △w can be calculated based on the flow rate of the solid material and the spreading time. 2 If the solid material box is also equipped with an auger device, the flow rate of the solid material can be calculated based on the size of the delivery port, the rotation speed of the auger, the type of solid material and other material feeding control parameters, and then the estimated weight change △w can be calculated based on the flow rate of the solid material and the spreading time. 2

[0082] Second weight change data △w 3 The actual weight change of the solid material in the solid material box is calculated and measured by the material level sensor. The material level sensor is a sensor used to measure the height of the solid material in the solid material box. By using the material level sensor to measure the initial height of the solid material and measure the current height of the solid material in real time, the second weight change data △w can be calculated based on the current height of the solid material, the initial height, and the shape design and size of the solid material box. 3 .

[0083] Calculate △w 1 and △w 2 The difference △w 4 and △w 3 and △w 2 The difference △w 5 , if △w 4 and / or 5 If the value exceeds the set threshold, it is determined that a swing trigger signal is detected, and the program for generating a swing control instruction is executed.

[0084] The advantage of this setting is that by determining that a swing trigger signal is detected when the actual weight change of the solid material obviously does not match the estimated weight change, the unmanned equipment can automatically determine whether to swing the solid material box according to the actual unloading situation of the solid material, and can also provide a data basis for the adaptive adjustment of the swing posture amplitude and swing period.

[0085] S405, when the sensing information in the solid material box meets the second condition, it is determined that a swing trigger signal is detected, and S406 is executed.

[0086] The case where the unloading information satisfies the second condition may be that the material weight of the solid material box is less than a preset weight threshold or the material level is lower than a preset level height, and the distance sensor on the side wall of the solid material box detects a material blocking signal.

[0087] In the technical solution, optionally, when the sensed information in the solid material box satisfies the second condition, determining that a swing trigger signal is detected includes:

[0088] When the weight of the material in the solid material box is less than a preset weight threshold and the distance sensor on the side wall of the solid material box detects a material blocking signal, it is determined that a swing trigger signal is detected;

[0089] or,

[0090] When the material level of the solid material box is lower than the preset material level height and the distance sensor on the side wall of the solid material box detects a material blocking signal, it is determined that a swing trigger signal is detected.

[0091] Figure 5 This is a schematic diagram of the second embodiment of the present invention providing the sensed information in the solid material box that meets the second condition. Figure 5 As shown, the material level sensor is located at the outer top of the solid material box, and the distance sensor is located at the outer side of the box wall at a certain height from the bottom of the solid material box.

[0092] The weight of the material in the solid material box can be measured by a weight sensor. The preset weight threshold can be a critical value for judging whether the material may be hanging on the wall. If the weight of the material in the solid material box is less than the preset weight threshold, there is a greater possibility that the material will hang on the wall. Among them, the preset weight threshold should be less than the weight of the solid material at the height of the distance from the sensor.

[0093] The material level of the solid material box can be measured by the material level sensor. The preset material level height can be a critical value to determine whether the material may be hanging on the wall. If the material level of the solid material box is lower than the preset material level height, there is a greater possibility that the material will hang on the wall. Among them, the preset material level height should be lower than the height of the distance sensor.

[0094] A distance sensor can be a device used to measure the distance or degree of distance between an object and the distance sensor. Common distance sensors include infrared sensors, ultrasonic sensors, laser sensors, and millimeter wave radar sensors. If the measurement result of the distance sensor minus the thickness of the box wall of the solid material box is not 0, it indicates that there is solid material on the current box wall. Further, it is determined that a swing trigger signal is detected, that is, the program for generating a swing control instruction is executed.

[0095] The advantage of this setting is that by determining that a swing trigger signal is detected when the actual weight change of the solid material is obviously inconsistent with the estimated weight change, the unmanned equipment can automatically and accurately determine whether there is wall hanging at present, thereby avoiding detection errors caused by inaccurate estimation of the theoretical material discharge weight.

[0096] S406: Generate a swing control instruction.

[0097] S407, controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction.

[0098] The present technical scheme, by determining that a swing trigger signal is detected when a swing control instruction is received, can enable the user to judge whether to perform swing control based on experience, thereby improving the degree of freedom and flexibility; by determining that a swing trigger signal is detected when the operating time reaches the swing control cycle, the solid material box can be automatically and timely controlled to swing when other signal detection methods fail; by determining that a swing trigger signal is detected when the operating state is in the target state, the number of swings in the spreading state can be minimized to avoid affecting the normal spreading work of the unmanned equipment; by determining that a swing trigger signal is detected when the unloading information of the solid material box meets the first condition, the wall hanging condition of the solid material can be accurately judged according to the weight information, and the precise swing control can be performed according to the wall hanging condition; by determining that a swing trigger signal is detected when the perception information in the solid material box meets the second condition, the wall hanging condition of the solid material can be accurately judged according to the material level information, and the precise swing control can be performed according to the wall hanging condition.

[0099] Embodiment 3

[0100] Figure 6 This is a flow chart of a solid material box unloading control method for unmanned equipment provided in Example 3 of the present application. This solution makes a better improvement on Example 1, and the specific improvement is: before generating a swing control instruction, the method also includes: obtaining material information of the solid material; determining the initial swing posture amplitude and / or initial swing period of the swing control instruction according to the material information; obtaining the unloading information of the solid material box; and adjusting the initial swing posture amplitude and / or initial swing period of the swing control instruction according to the unloading information.

[0101] like Figure 6 As shown, the specific steps include:

[0102] S601, obtaining material information of solid materials.

[0103] The material information may be the type of solid material, that is, the detailed type of the above-mentioned fertilizer, feed, and seed, etc. The user may manually select the type, and the type information may be obtained by reading the user's selection operation result.

[0104] S602: Determine an initial swing posture amplitude and / or an initial swing period of a swing control instruction according to the material information.

[0105] The initial swing posture amplitude and / or initial swing period can be the swing posture amplitude and / or swing period determined based on historical experience, which are manually input by the user before the unmanned equipment starts working, or the recommended swing posture amplitude and / or swing period provided by the manufacturer selected by the user. If the user chooses not to keep the default, that is, chooses the unmanned equipment to detect and automatically set the swing signal, then in the subsequent process of controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction, the swing posture amplitude A, the swing period T and the form of the swing signal can be based on the real-time evaluation of the material hanging on the wall and adaptively adjusted according to the real-time evaluation results. Therefore, the initial swing posture amplitude and / or initial swing period can also be input without input, and the swing posture amplitude A, the swing period T and the form of the swing signal can be directly determined according to the adaptive adjustment results.

[0106] S603, obtaining the unloading information of the solid material box.

[0107] The material unloading information may include the first weight change data Δw of the solid material 1 , Theoretical material weight △w 2 And the second weight change data △w 3 .

[0108] The material unloading information can be determined by measuring the weight sensor and the material level sensor.

[0109] S604: adjusting the initial swing posture amplitude and / or initial swing period of the swing control instruction according to the material unloading information.

[0110] It is necessary to confirm the adjustment parameters according to the material unloading information first, and the unmanned equipment will adjust according to the adjustment parameters.

[0111] In the technical solution, optionally, adjusting the initial swing posture amplitude and / or initial swing period of the swing control instruction according to the material unloading information includes:

[0112] Determining adjustment parameters according to first weight change data of the solid material box detected by the weight sensor and theoretical material discharge weight data;

[0113] Adjusting the initial swing posture amplitude and / or the initial swing period based on the adjustment parameters;

[0114] or,

[0115] Determine second weight change data of the material according to the material level change data of the solid material box detected by the material level sensor;

[0116] Determining adjustment parameters according to the second weight change data and the theoretical material discharge weight data;

[0117] The initial swing posture amplitude and / or the initial swing period are adjusted based on the adjustment parameters.

[0118] According to the first weight change data △w of the solid material box detected by the weight sensor 1 And theoretical material weight data △w 2 , and determining the second weight change data △w of the material according to the material level change data of the solid material box detected by the material level sensor 3 The method is consistent with that described in Example 2 and will not be described again here to avoid repetition.

[0119] The adjustment parameter k can be adjusted according to the first weight change data Δw 1 Compared with the theoretical material weight data △w 2 It can also be calculated based on the second weight change data △w4 and the theoretical material weight data △w 2 Calculated.

[0120] The initial swing posture amplitude and / or initial swing period are adjusted based on the adjustment parameter k, that is, the adaptive adjustment value A is determined. adj With T adj :

[0121] A adj =(1-k)A max Where 0≤k≤1;

[0122] T adj = k * T max Where 0≤k≤1;

[0123] Among them, A max is the maximum swing attitude angle allowed by the UAV or the maximum swing attitude angle of the solid material box of the unmanned vehicle, T max It is the maximum swing period that can effectively produce the shaking of common materials based on experiments.

[0124] For drones, experiments show that when the difference between the solid material feeding speed and weight change is small, the solid material hanging on the wall is not serious, and a smaller adjustment parameter k can make the posture swing amplitude A adj Smaller, period T adj The larger the adjustment parameter k, the gentler the swing of the drone will be, which can reduce the excessive impact on the accuracy of the route. When the difference between the feeding speed and the weight change of the solid material is larger, the solid material will hang on the wall more seriously. A larger adjustment parameter k can make the attitude swing amplitude A adj Larger, period T adj It is shorter, which generally makes the drone swing more aggressively, which is more conducive to box wall cleaning.

[0125] For unmanned vehicles, the principle is the same as that for drones. A smaller adjustment parameter k can make the unmanned vehicle run more smoothly, and a larger adjustment parameter k is more conducive to cleaning the box wall.

[0126] The advantage of this setting is that the adaptive adjustment value A is determined according to the adjustment parameter. adj With T adj , which can improve the accuracy of adjustment.

[0127] In the present technical solution, optionally, the ratio of the first weight change data to the theoretical material discharge weight data is used as the adjustment parameter; or, the ratio of the second weight change data to the theoretical material discharge weight data is used as the adjustment parameter.

[0128] Adjustment parameter k = first weight change data △w1 / theoretical material discharge weight data △w2;

[0129] Adjustment parameter k = second weight change data △w3 / theoretical material discharge weight data △w2;

[0130] If the solid material box is equipped with a weight sensor and a material level sensor at the same time, the adjustment parameter can be the average value of the calculation results of the above two adjustment parameters.

[0131] The advantage of this setting is that the adjustment parameters are determined according to the cutting information, which can improve the accuracy of the adjustment and expand the use of the adjustment method.

[0132] S605: Generate a swing control instruction.

[0133] S606: Control the swinging of the solid material box of the unmanned equipment according to the swing control instruction.

[0134] The advantage of this arrangement of the present invention is that by adjusting the initial swing posture amplitude and / or initial swing period based on the unloading information, precise control of the swing can be achieved, thereby ensuring the stable movement of the unmanned equipment and optimizing the box wall cleaning effect.

[0135] Embodiment 4

[0136] Figure 7 This is a schematic diagram of a module of a solid material box unloading control device for unmanned equipment provided by the fourth embodiment of the present invention. The device is used to execute the solid material box unloading control method for unmanned equipment described above, and has the corresponding functional modules and beneficial effects of the execution method. Figure 7 As shown, the device specifically includes:

[0137] The control instruction generating module 710 is used to generate a swing control instruction when a swing trigger signal is detected during the process of unmanned equipment carrying solid materials through a solid material box;

[0138] The control instruction execution module 720 is used to control the swing of the solid material box of the unmanned equipment according to the swing control instruction.

[0139] In the embodiment of the device, the control instruction generation module is used to generate a swing control instruction when a swing trigger signal is detected during the process of the unmanned equipment carrying solid materials through the solid material box; the control instruction execution module is used to control the swing of the solid material box of the unmanned equipment according to the swing control instruction. This solution controls the swing of the unmanned equipment or the solid material box when it is detected that the solid material box is hanging on the wall, without changing the structure of the unmanned equipment. This can effectively solve the problem of solid material hanging on the wall while the unmanned equipment is working normally, improve the actual spreading rate and uniformity of each spreading task, so as to be compatible with more types of materials and expand the applicable scenarios.

[0140] Embodiment 5

[0141] Figure 8 A structural schematic diagram of a solid material box unloading control device for unmanned equipment provided in Embodiment 5 of the present invention is shown in FIG. Figure 8 As shown, the device includes a processor 801, a memory 802, an input device 803 and an output device 804; the number of processors 801 in the device can be one or more. Figure 8 A processor 801 is taken as an example; the processor 801, the memory 802, the input device 803 and the output device 804 in the device can be connected by a bus or other means. Figure 8The bus connection is taken as an example. The memory 802, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the solid material box unloading control method of the unmanned equipment in the embodiment of the present invention. The processor 801 executes various functional applications and data processing of the equipment by running the software programs, instructions and modules stored in the memory 802, that is, realizes the above-mentioned mobile device target determination method. The input device 803 can be used to receive input digital or character information, and generate key signal input related to the user settings and function control of the device. The output device 804 may include a display device such as a display screen.

[0142] The embodiment of the present invention further provides a storage medium containing computer executable instructions, which can be stored in the form of a server application. When the computer executable instructions are executed by a computer processor, they are used to execute a solid material box unloading control method for unmanned equipment, the method comprising:

[0143] When the unmanned equipment is carrying solid materials through the solid material box, a swing control instruction is generated when a swing trigger signal is detected;

[0144] The solid material box of the unmanned equipment is controlled to sway according to the sway control instruction.

[0145] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0146] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile device, mobile phone, computer, server or network device, etc.) to execute the methods described in each embodiment of the present application.

[0147] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A solid material box unloading control method for unmanned equipment, It is characterized in that The method is performed by unmanned equipment; the unmanned equipment is provided with a solid material box; the method comprises: When the unmanned equipment is carrying solid materials through the solid material box, a swing control instruction is generated when a swing trigger signal is detected; The solid material box of the unmanned equipment is controlled to sway according to the sway control instruction.

2. The solid material box unloading control method of unmanned equipment according to claim 1, It is characterized in that The process of detecting the swing trigger signal includes: In case of receiving the swing control instruction, determining that a swing trigger signal is detected; or, When the running time reaches the swing control period, it is determined that a swing trigger signal is detected; or, When the operation state is in the target state, determining that a swing trigger signal is detected; or, When the unloading information of the solid material box satisfies the first condition, it is determined that a swing trigger signal is detected; or, When the sensing information in the solid material box satisfies the second condition, it is determined that a swing trigger signal is detected.

3. The solid material box unloading control method of unmanned equipment according to claim 2, It is characterized in that When the unloading information of the solid material box satisfies the first condition, determining that a swing trigger signal is detected includes: When the first weight change data of the solid material box detected by the weight sensor does not match the theoretical material discharge weight data, it is determined that a swing trigger signal is detected; or, The second weight change data of the material is determined based on the material level change data of the solid material box detected by the material level sensor; when the second weight change data does not match the theoretical unloading weight data, it is determined that a swing trigger signal is detected; wherein the theoretical unloading weight data is determined based on the unloading control parameters.

4. The solid material box unloading control method of unmanned equipment according to claim 2, It is characterized in that When the sensing information in the solid material box satisfies the second condition, determining that a swing trigger signal is detected includes: When the weight of the material in the solid material box is less than a preset weight threshold and the distance sensor on the side wall of the solid material box detects a material blocking signal, it is determined that a swing trigger signal is detected; or, When the material level of the solid material box is lower than the preset material level height and the distance sensor on the side wall of the solid material box detects a material blocking signal, it is determined that a swing trigger signal is detected.

5. The solid material box unloading control method of unmanned equipment according to claim 1, It is characterized in that Before generating the sway control instruction, the method further includes: Get material information of solid materials; The swing attitude amplitude and / or the swing period of the swing control instruction are determined according to the material information.

6. The solid material box unloading control method of unmanned equipment according to claim 1, It is characterized in that Before generating the sway control instruction, the method further includes: Get material information of solid materials; Determine an initial swing attitude amplitude and / or an initial swing period of a swing control instruction according to the material information; Get the unloading information of the solid material box; The initial swing posture amplitude and / or initial swing period of the swing control instruction are adjusted according to the unloading information.

7. The solid material box unloading control method of unmanned equipment according to claim 6, It is characterized in that The initial swing attitude amplitude and / or initial swing period of the swing control instruction are adjusted according to the material unloading information, including: Determining adjustment parameters according to first weight change data of the solid material box detected by the weight sensor and theoretical material discharge weight data; Adjusting the initial swing posture amplitude and / or the initial swing period based on the adjustment parameters; or, Determine second weight change data of the material according to the material level change data of the solid material box detected by the material level sensor; Determining adjustment parameters according to the second weight change data and the theoretical material discharge weight data; The initial swing posture amplitude and / or the initial swing period are adjusted based on the adjustment parameters.

8. The solid material box unloading control method of unmanned equipment according to claim 7, Features: The ratio of the first weight change data to the theoretical material discharge weight data is used as the adjustment parameter; or the ratio of the second weight change data to the theoretical material discharge weight data is used as the adjustment parameter.

9. The solid material box unloading control method of unmanned equipment according to claim 1, It is characterized in that The unmanned equipment includes a drone; Controlling the swing of the solid material box of the unmanned equipment according to the swing control instruction includes: According to the swing control instruction, the UAV is controlled to swing according to a preset rolling attitude angle so that the solid material box swings.

10. The solid material box unloading control method of unmanned equipment according to claim 1, It is characterized in that An inertial collision body is also provided in the solid material box; The swing control instruction is used to control the swing of the solid material box of the unmanned equipment so that the inertial collision body collides with the side wall of the solid material box.

11. Solid material box unloading control device for unmanned equipment, It is characterized in that The device comprises: A control instruction generation module, used for generating a swing control instruction when a swing trigger signal is detected during the process of unmanned equipment carrying solid materials through a solid material box; A control instruction execution module is used to control the swing of the solid material box of the unmanned equipment according to the swing control instruction.

12. An unmanned device, wherein the unmanned device include: a solid material tank, a storage device, and one or more processors; The storage device is used to store 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 solid material box unloading control method of the unmanned equipment described in any one of claims 1-10.

13. A storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute the solid material box unloading control method of unmanned equipment according to any one of claims 1 to 10 when executed by a computer processor.

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