Plant protection equipment route planning method and device, storage medium and plant protection equipment
By obtaining wind power information in plant protection unmanned vehicles and planning reasonable routes and spraying directions, the efficiency and safety of spraying operations under headwind conditions are solved, and lower energy consumption and more efficient spraying effects are achieved.
Patent Information
- Application Number
- CN202311601839.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-27
- Publication Date
- 2025-05-27
AI Technical Summary
When spraying unmanned vehicles in plant protection under headwind conditions, it is easy to cause the liquid to drift, affect the operation effect, increase energy consumption, and may cause harm to the environment and operators.
By obtaining wind power information in the target area, plan the spraying direction corresponding to the target route and each sub-path, make rational use of wind power to avoid headwind operations.
It effectively reduces energy consumption, ensures the accuracy and effectiveness of spraying operations, and avoids liquid drift and other potential hazards.
Smart Images
Figure CN120044940A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of agricultural plant protection, and specifically, to a method and device for route planning of a plant protection device, a storage medium, and a plant protection device. Background Art
[0002] Currently, spraying systems applied to movable platforms (such as unmanned aerial vehicles, unmanned vehicles, unmanned boats, etc.) can spray liquids such as pesticides and water. As a type of movable platform, a plant protection unmanned vehicle may include an unmanned vehicle body and a spraying system, and the spraying system is installed on the unmanned vehicle body.
[0003] When the plant protection unmanned vehicle performs a spraying operation on crops, it is severely affected by environmental winds, which will cause serious liquid drift of the liquid medicine, resulting in ineffective operation, causing phytotoxicity, affecting the environment, and even endangering the physical health of the operators. Therefore, when operating against the wind, energy needs to be consumed to fight against the wind to overcome the influence of the environmental wind on the operation. However, this method not only increases a large amount of energy consumption, but also cannot guarantee the effectiveness of spraying. How to overcome the above problems has become a difficult problem that those skilled in the art have continuously paid attention to. Summary of the Invention
[0004] The purpose of the present application is to provide a method and device for route planning of a plant protection device, a storage medium, and a plant protection device to at least partially improve the above problems.
[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
[0006] In a first aspect, an embodiment of the present application provides a method for route planning of a plant protection device. The plant protection device includes a movable platform and a spraying system deployed on the movable platform. The method includes: obtaining wind force information in a target area; determining a target route and a spraying direction corresponding to each sub-path in the target route based on the wind force information; where the target route is the moving path of the movable platform when the plant protection device performs a spraying operation, the target route includes at least one sub-path, and the spraying direction is the orientation of the spraying of the spraying system when the movable platform moves on the sub-path.
[0007] In the solution of the present application, when planning the target route and the spraying direction corresponding to each sub-path in the target route, the wind force information is combined, and the influence brought by the wind force is fully considered to ensure that when the spraying system performs a spraying operation, the wind force is reasonably utilized to perform the operation with the wind and act according to the situation; avoid operating against the wind and wasting energy to fight against the wind, that is, reduce energy consumption and ensure the effectiveness of spraying.
[0008] Optionally, the wind force information includes wind speed. Determining the target route and the spraying direction corresponding to each sub-path in the target route based on the wind force information includes: determining whether the wind speed is greater than a first preset wind speed; if the wind speed is less than or equal to the first preset wind speed, determining the spraying direction to be the left and right sides of the moving direction of the movable platform; and determining the target route based on the spraying direction and the arrangement information of the operation objects in the target area. The wind force information further includes wind direction. Determining the target route and the spraying direction corresponding to each sub-path in the target route based on the wind force information further includes: if the wind speed is greater than the first preset wind speed, using the wind direction as the spraying direction; and determining the target route based on the spraying direction and the arrangement information of the operation objects in the target area.
[0009] Through the above steps, the solution of the present application can not only take into account the operation efficiency, but also ensure the accuracy of the spraying operation, always keep the spraying direction consistent with the wind direction, avoid spraying against the wind, ensure the accuracy of the spraying operation, avoid the drift of the liquid medicine, resulting in ineffective operation, causing phytotoxicity, affecting the environment, and even endangering the physical health of the operation personnel.
[0010] Optionally, after obtaining the wind force information in the target area, the method further includes: determining whether the wind speed is greater than a second preset wind speed; if the wind speed is greater than the second preset wind speed, determining that it is not suitable to perform the spraying operation in the current environment; if the wind speed is less than or equal to the second preset wind speed, continuing to determine the target route and the spraying direction corresponding to each sub-path in the target route based on the wind force information. Thus, spraying operations are avoided in extreme weather with strong winds.
[0011] In a second aspect, an embodiment of the present application provides a method for controlling a plant protection device. The plant protection device includes a movable platform and a spraying system deployed on the movable platform. The method includes: controlling the movable platform and the spraying system according to the target route obtained by the above-mentioned plant protection device route planning method and the spraying direction corresponding to each sub-path in the target route; and adjusting the output power of the spraying nozzle of the spraying system according to the wind speed.
[0012] In the solution of the present application, the plant protection device is controlled to ensure the accuracy of the spraying operation.
[0013] Optionally, the method further includes: when the spraying direction is on the left and right sides of the moving direction of the movable platform, if it is detected that the current wind speed is greater than the first preset wind speed, controlling the upwind spraying nozzles in the spraying system to stop spraying; when the movable platform moves to the end, repeating the above-mentioned plant protection equipment route planning method to obtain a new target route and the spraying direction corresponding to each sub-path in the new target route; controlling the movable platform and the spraying system according to the new target route and the spraying direction corresponding to each sub-path in the new target route.
[0014] Thus, during the operation process, when the wind force changes, the accuracy of subsequent spraying operations is ensured.
[0015] In a third aspect, an embodiment of the present application provides a plant protection equipment route planning device. The plant protection equipment includes a movable platform and a spraying system deployed on the movable platform. The device includes: an information acquisition unit, configured to acquire wind force information in a target area; a first processing unit, configured to determine a target route and the spraying direction corresponding to each sub-path in the target route based on the wind force information; wherein, the target route is the moving path of the movable platform when the plant protection equipment performs spraying operations, the target route includes at least one sub-path, and the spraying direction is the spraying orientation of the spraying system when the movable platform moves on the sub-path.
[0016] In a fourth aspect, an embodiment of the present application provides a plant protection equipment control device. The plant protection equipment includes a movable platform and a spraying system deployed on the movable platform. The device includes: a first control unit, configured to control the movable platform and the spraying system according to the target route obtained by the above-mentioned plant protection equipment route planning method and the spraying direction corresponding to each sub-path in the target route; a second control unit, configured to adjust the output power of the spraying nozzles of the spraying system according to the wind speed.
[0017] In a fifth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method is implemented.
[0018] In a sixth aspect, an embodiment of the present application provides an electronic device. The electronic device includes: a processor and a memory, and the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above-mentioned method is implemented.
[0019] In a seventh aspect, an embodiment of the present application provides a plant protection equipment, and the plant protection equipment includes the above-mentioned electronic device.
[0020] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides preferred embodiments in conjunction with the accompanying drawings and makes a detailed description as follows. Description of the Drawings
[0021] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can be obtained based on these drawings.
[0022] Figure 1 Schematic structural diagram of the electronic device provided by the embodiment of the present application;
[0023] Figure 2 One of the flowcharts of the method for planning the flight path of the plant protection equipment provided by the embodiment of the present application;
[0024] Figure 3 Schematic diagram of the target flight path and spraying direction in the target area without wind influence provided by the embodiment of the present application;
[0025] Figure 4 Schematic diagram of the target flight path and spraying direction in the target area with wind influence provided by the embodiment of the present application;
[0026] Figure 5 Another flowchart of the method for planning the flight path of the plant protection equipment provided by the embodiment of the present application;
[0027] Figure 6 One of the flowcharts of the method for controlling the plant protection equipment provided by the embodiment of the present application;
[0028] Figure 7 Another flowchart of the method for controlling the plant protection equipment provided by the embodiment of the present application;
[0029] Figure 8 Unit schematic diagram of the device for planning the flight path of the plant protection equipment provided by the embodiment of the present application;
[0030] Figure 9 Unit schematic diagram of the device for controlling the plant protection equipment provided by the embodiment of the present application.
[0031] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 301 - information acquisition unit; 302 - first processing unit; 401 - first control unit; 402 - second control unit. Detailed Embodiments
[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application. Components of the embodiments of this application described and illustrated in the drawings herein can be arranged and designed in a variety of different configurations.
[0033] Therefore, the detailed description of the embodiments of this application provided in the drawings below is not intended to limit the scope of this application that is claimed, but is merely representative of selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.
[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings. At the same time, in the description of this application, terms such as "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.
[0035] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.
[0036] In the description of this application, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0037] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "arrangement" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0038] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.
[0039] The embodiment of the present application provides a plant protection device, which includes a movable platform and a spraying system deployed on the movable platform. The movable platform can be, but is not limited to, an unmanned vehicle, an unmanned aerial vehicle, an unmanned ship, etc. The spraying system can spray liquids such as pesticides and water.
[0040] The spraying system in the solution of the present application is provided with at least two groups of spraying ports. Among them, the first group of spraying ports is used for spraying to the left side of the advancing direction of the movable platform, and the second group of spraying ports is used for spraying to the right side of the advancing direction of the movable platform. And each group of spraying ports can be independently controlled. For example, it can be controlled that the first group of spraying ports spray to the left side of the advancing direction of the movable platform, and the second group of spraying ports stop spraying. It can also be controlled that the second group of spraying ports spray to the right side of the advancing direction of the movable platform, and the first group of spraying ports stop spraying.
[0041] As described above, when a plant protection unmanned vehicle performs spraying operations on crops, it will be seriously affected by the environmental wind, resulting in serious liquid medicine drift, causing ineffective operations, drug damage, affecting the environment, and even endangering the physical health of the operators. To overcome the above problems, when performing spraying operations, it is necessary to fully consider the influence brought by the wind force, plan the flight path and spraying method of the plant protection device in combination with the wind force information, so as to make rational use of the wind force, make the plant protection device operate with the wind and act according to the trend; avoid operating against the wind and wasting energy to fight against the wind. Specifically, the embodiment of the present application provides a method for planning the flight path of a plant protection device, which is applied to the electronic device described below.
[0042] The embodiment of the present application provides an electronic device, which can be a server device, a computer device, a mobile phone device, a remote control terminal device, or a central control unit on a movable platform. When the electronic device is a server device, a computer device, a mobile phone device, a remote control terminal device, etc., the electronic device can communicate with the central control unit on the movable platform directly or indirectly, so as to transmit the information such as the planned flight path it has planned to the central control unit.
[0043] Please refer to Figure 1 , a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.
[0044] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the route planning method for plant protection equipment can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
[0045] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.
[0046] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 1 Although only one bidirectional arrow is used in the figure, it does not mean that there is only one bus 12 or only one type of bus 12 .
[0047] The memory 11 is used to store programs, such as programs corresponding to the route planning device for plant protection equipment. The route planning device for plant protection equipment includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the route planning method for plant protection equipment.
[0048] Optionally, the electronic device provided by the embodiments of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 through a bus. The electronic device can obtain the wind force information monitored by the wind force monitoring device through the communication interface 13, and can also send the planned flight path to the central control unit through the communication interface 13. Optionally, the wind force monitoring device can also be deployed on a movable platform.
[0049] It should be understood that Figure 1 the structure shown is only a schematic diagram of a part of the electronic device, and the electronic device may further include more or fewer components than those shown Figure 1 herein, or have a different configuration from that shown Figure 1 herein. Figure 1 Each component shown herein can be implemented by hardware, software, or a combination thereof.
[0050] A method for planning a flight path of a plant protection device provided by the embodiments of the present application can be but is not limited to being applied to the electronic device shown Figure 1 herein. For the specific process, please refer to Figure 2 , the method for planning a flight path of a plant protection device: S101 and S104, which are specifically described as follows.
[0051] S101, obtain the wind force information in the target area.
[0052] Optionally, the electronic device can obtain the wind force information monitored by the wind force monitoring device, and can also obtain the wind force information in the target area from a meteorological server. The wind force information includes but is not limited to wind speed and wind direction.
[0053] S104, determine the target flight path and the spraying direction corresponding to each sub-path in the target flight path based on the wind force information.
[0054] Among them, the target flight path is the movement path of the movable platform when the plant protection device is performing spraying operations. The target flight path includes at least one sub-path. The spraying direction is the orientation of the spraying system when the movable platform moves on the sub-path.
[0055] Please refer to Figure 3 and Figure 4 , Figure 3 which is a schematic diagram of the target flight path and spraying direction in the target area without wind force influence provided by the embodiments of the present application; Figure 4 which is a schematic diagram of the target flight path and spraying direction in the target area with wind force influence provided by the embodiments of the present application.
[0056] As shown in the figure, the crops (also known as the objects of operation) in the target area are arranged row by row. With respect to the same target area, under the influence of wind and without the influence of wind, the target routes are different, the number of sub-paths in the target route is different, and the forward directions on the sub-paths are different. Moreover, when the mobile platform moves on the sub-path, the spraying directions of the spraying system are also different.
[0057] Specifically, Figure 3 In, the spraying directions are on the left and right sides of the forward direction of the mobile platform, and spraying is carried out simultaneously on both sides to ensure the operation efficiency. Figure 4 In, the spraying direction is on the left or right side of the forward direction of the mobile platform, and it always remains the same as the wind direction to avoid operating against the wind.
[0058] In the solution of this application, when planning the target route and the spraying direction corresponding to each sub-path in the target route, wind information is combined, and the influence brought by the wind is fully considered to ensure that when the spraying system performs spraying operations, the wind is reasonably utilized to operate with the wind and act according to the situation; avoid operating against the wind and wasting energy in the confrontation with the wind, that is, reduce energy consumption and ensure the effectiveness of spraying.
[0059] It should be noted that the electronic device can execute S101 at a preset time period to obtain the wind information in the target area, or execute S101 when the mobile platform moves to the end of any sub-path to obtain the wind information in the target area. Then execute S104 to determine the target route and the spraying direction corresponding to each sub-path in the target route based on the wind information. Thus, during the operation process, the spraying direction and the route can also be continuously adjusted to adapt to the change of the wind.
[0060] It should be noted that the wind considered in the solution of this application when planning the route is the wind perpendicular to the gap rows in the target area. On both sides of the gap rows, the crops to be sprayed (i.e., the objects of operation) are planted, and the mobile platform moves in the target area along the gap rows.
[0061] In Figure 2 On the basis of, when the wind information includes wind speed and wind direction, regarding how to balance the operation efficiency and ensure the accuracy of the spraying operation, the embodiment of this application also provides an optional implementation manner. Please refer to the following, S104, determining the target route and the spraying direction corresponding to each sub-path in the target route based on the wind information, includes: S104-1, S104-2, S104-3, and S104-4, which are specifically described as follows.
[0062] S104-1, determine whether the wind speed is greater than the first preset wind speed. If not, then execute S104-2; if so, then execute S104-3.
[0063] It should be noted that when the wind speed is less than or equal to the first preset wind speed, it indicates that the target area is currently in a windless state or a light wind state, which has little impact on the spraying operation. To improve the efficiency of the spraying operation, S104-2 can be executed to determine that the spraying directions are the left and right sides of the moving direction of the mobile platform. As Figure 3 shown, when the mobile platform moves on the sub-path, the first group of spraying nozzles and the second group of spraying nozzles of the spraying system spray to the left and right sides of the advancing direction of the mobile platform respectively. For the same-sized target area, the corresponding sub-paths are reduced, thereby improving the efficiency of the spraying operation.
[0064] When the wind speed is greater than the first preset wind speed, it indicates that the target area is currently in a strong wind state, which has a greater impact on the spraying operation. If spraying is carried out on both sides at the same time, one side will be spraying against the wind, which will not only cause additional energy loss, but may also cause serious liquid medicine drift, resulting in ineffective operation, drug damage, environmental impact, and even harm to the physical health of the operators. At this time, execute S104-3 and use the wind direction as the spraying direction. As Figure 4 shown, when the mobile platform moves on the sub-path, the first group of spraying nozzles of the spraying system spray to the left side of the advancing direction of the mobile platform, and the second group of spraying nozzles are controlled to stop spraying; or, the second group of spraying nozzles of the spraying system spray to the right side of the advancing direction of the mobile platform, and the first group of spraying nozzles are controlled to stop spraying, so as to always keep the spraying direction consistent with the wind direction, avoid spraying against the wind, ensure the accuracy of the spraying operation, avoid liquid medicine drift, resulting in ineffective operation, drug damage, environmental impact, and even harm to the physical health of the operators.
[0065] S104-2: If the wind speed is less than or equal to the first preset wind speed, then determine that the spraying directions are the left and right sides of the moving direction of the mobile platform.
[0066] S104-3: If the wind speed is greater than the first preset wind speed, then use the wind direction as the spraying direction.
[0067] S104-4: Determine the target flight path based on the spraying direction and the arrangement information of the operation objects in the target area.
[0068] It should be noted that when the spraying directions are the left and right sides of the moving direction of the mobile platform, that is, spraying on both sides at the same time, one sub-path can spray two rows of crops (also known as operation objects) at the same time. Knowing this information and the arrangement information of the operation objects in the target area, two adjacent rows of crops can be used as a group of operation units, the gap row between the two rows of crops in the operation unit can be used as the sub-path, and each sub-path can be connected in series to determine the target flight path.
[0069] It should be noted that in the case where the wind direction is used as the spraying direction, it indicates unilateral spraying. One sub-path can only spray one row of crops (also known as the operation object). Given this information and the arrangement information of the operation objects in the target area, the gap row on the upwind side of each row of crops can be used as the sub-path corresponding to that row of crops. By connecting all the sub-paths in series, the target flight path can be determined.
[0070] It should be noted that in extreme weather conditions, when the wind force is too strong, neither downwind spraying operations nor upwind spraying operations can accurately achieve spraying operations. To avoid this situation, based on Figure 2 , an alternative implementation manner is further provided in the embodiments of the present application. Please refer to Figure 5 , and the flight path planning method for the plant protection equipment further includes: S102 and S103, which are specifically described as follows.
[0071] S102, determine whether the wind speed is greater than a second preset wind speed. If so, execute S103; if not, execute S104.
[0072] It should be noted that when the wind speed is greater than the second preset wind speed, it indicates that the target area is currently in a strong wind state, and neither downwind spraying operations nor upwind spraying operations can accurately achieve spraying operations. To avoid operating in this situation, S103 is executed to determine that it is not suitable to perform spraying operations in the current environment, and then a corresponding prompt instruction can be sent to the user.
[0073] If the wind speed is less than or equal to the second preset wind speed, it means that the influence of the wind force can be accepted and overcome, so S104 can be continued to be executed.
[0074] S103, determine that it is not suitable to perform spraying operations in the current environment.
[0075] S104, determine the target flight path and the spraying direction corresponding to each sub-path in the target flight path based on the wind force information.
[0076] Based on Figure 2 and Figure 5 , regarding how to control the plant protection equipment to ensure the accuracy of spraying operations, an embodiment of the present application further provides a plant protection equipment control method, which is applied to the controller of the plant protection equipment and can be, but is not limited to, the central control unit or wireless remote control of a movable platform. Please refer to Figure 6 , Figure 6 is a schematic flowchart of the plant protection equipment control method provided by the embodiments of the present application. As shown in Figure 6 , the plant protection equipment control method includes: S201 and S202, which are specifically described as follows.
[0077] S201. Control the movable platform and the spraying system according to the target route obtained by the above-mentioned plant protection equipment route planning method and the spraying direction corresponding to each sub-path in the target route.
[0078] Optionally, control the movable platform to move along the target route, and control the spraying system to perform spraying operations according to the spraying direction corresponding to the sub-path where the movable platform is located.
[0079] S202. Adjust the output power of the spraying nozzles of the spraying system according to the wind speed.
[0080] Optionally, when the wind speed is less than or equal to the first preset wind speed, spraying is carried out on both the left and right sides simultaneously. At this time, the output power of the spraying nozzles is the default power matching the spraying distance and spraying height. When the wind speed is greater than the first preset wind speed, spraying is carried out on the leeward side unilaterally. At this time, the output power of the spraying nozzles is relatively lower than the default power. Optionally, it gradually decreases as the wind speed increases.
[0081] Based on Figure 6 Regarding how to ensure the accuracy of subsequent spraying operations in the case of a change in wind force during the operation process, the embodiments of the present application also provide an optional implementation manner. Please refer to Figure 7 The plant protection equipment control method further includes: S203, S204, and S205, which are specifically described as follows.
[0082] S203. When the spraying direction is on the left and right sides of the moving direction of the movable platform, if it is detected that the current wind speed is greater than the first preset wind speed, control the upwind spraying nozzles in the spraying system to stop spraying.
[0083] S204. When the movable platform moves to the end, repeatedly execute the above-mentioned plant protection equipment route planning method to obtain a new target route and the spraying direction corresponding to each sub-path in the new target route.
[0084] S205. Control the movable platform and the spraying system according to the new target route and the spraying direction corresponding to each sub-path in the new target route.
[0085] It should be noted that during the unilateral spraying process, when the wind speed drops below the first preset wind speed, a new target route can also be obtained.
[0086] Please refer to Figure 8 Figure 8 A plant protection equipment route planning device provided by an embodiment of the present application. Optionally, the plant protection equipment route planning device is applied to the electronic device described above.
[0087] The plant protection equipment route planning device includes: an information acquisition unit 301 and a first processing unit 302.
[0088] An information acquisition unit 301, configured to acquire wind force information within a target area.
[0089] A first processing unit 302, configured to determine a target route and a spraying direction corresponding to each sub - path in the target route based on the wind force information.
[0090] Wherein, the target route is the moving path of the movable platform when the plant protection equipment performs spraying operations, the target route includes at least one sub - path, and the spraying direction is the orientation of the spraying of the spraying system when the movable platform moves on the sub - path.
[0091] Optionally, the information acquisition unit 301 may execute the above - mentioned S101, and the first processing unit 302 may execute the above - mentioned S102 - S104.
[0092] It should be noted that the plant protection equipment route planning device provided in this embodiment can execute the method flow shown in the above - mentioned method flow embodiment to achieve the corresponding technical effects. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the above - mentioned embodiment.
[0093] Please refer to Figure 9 , Figure 9 A plant protection equipment control device provided in an embodiment of the present application. Optionally, the plant protection equipment control device is applied to the controller described above.
[0094] The plant protection equipment control device includes: a first control unit 401 and a second control unit 402.
[0095] The first control unit 401 is configured to control the movable platform and the spraying system according to the target route obtained by the above - mentioned plant protection equipment route planning method and the spraying direction corresponding to each sub - path in the target route;
[0096] The second control unit 402 is configured to adjust the output power of the spraying ports of the spraying system according to the wind speed.
[0097] Optionally, the first control unit 401 may execute the above - mentioned S201, S203 - S205, and the second control unit 402 may execute the above - mentioned S202.
[0098] It should be noted that the plant protection equipment control device provided in this embodiment can execute the method flow shown in the above - mentioned method flow embodiment to achieve the corresponding technical effects. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the above - mentioned embodiment.
[0099] The embodiments of the present application also provide a storage medium, which stores computer instructions and programs. When the computer instructions and programs are read and run, they execute the above-mentioned plant protection equipment route planning method and / or plant protection equipment control method. The storage medium may include memory, flash memory, registers or a combination thereof, etc.
[0100] The following provides an electronic device, which may be a server device, a computer device, a mobile phone device, a remote control terminal device, or a central control unit on a movable platform. The electronic device is as Figure 1 shown and can implement the above-mentioned plant protection equipment route planning method and / or plant protection equipment control method; specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the above-mentioned plant protection equipment route planning method and / or plant protection equipment control method are executed.
[0101] Optionally, the embodiments of the present application also provide a plant protection equipment, which includes a movable platform, a spraying system deployed on the movable platform, and the above-mentioned electronic device.
[0102] In summary, a plant protection equipment route planning method, device, storage medium and plant protection equipment provided by the embodiments of the present application, the plant protection equipment includes a movable platform and a spraying system deployed on the movable platform. The method includes: obtaining wind force information in a target area; determining a target route and a spraying direction corresponding to each sub-path in the target route based on the wind force information; wherein the target route is the moving path of the movable platform when the plant protection equipment performs spraying operations, the target route includes at least one sub-path, and the spraying direction is the orientation of the spraying system when the movable platform moves on the sub-path. When planning the target route and the spraying direction corresponding to each sub-path in the target route, the wind force information is combined, and the influence brought by the wind force is fully considered to ensure that when the spraying system performs spraying operations, the wind force is reasonably utilized to perform operations with the wind and act according to the trend; avoid operating against the wind, wasting energy in vain to fight against the wind, that is, reduce energy consumption and ensure the effectiveness of spraying.
[0103] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
[0104] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.
Claims
1. A method for route planning of a plant protection device, characterized in that, the plant protection device includes a movable platform and a spraying system deployed on the movable platform, and the method includes: Obtaining wind information within a target area; Determining a target route and a spraying direction corresponding to each sub-path in the target route based on the wind information; wherein, the target route is the moving path of the movable platform when the plant protection device performs spraying operations, the target route includes at least one sub-path, and the spraying direction is the orientation of the spraying of the spraying system when the movable platform moves on the sub-path.
2. The method for route planning of a plant protection device according to claim 1, characterized in that, the wind information includes wind speed, and determining the target route and the spraying direction corresponding to each sub-path in the target route based on the wind information includes: Determining whether the wind speed is greater than a first preset wind speed; If the wind speed is less than or equal to the first preset wind speed, determining the spraying direction to be the left and right sides of the moving direction of the movable platform; Determining the target route based on the spraying direction and the arrangement information of the operation objects within the target area.
3. The method for route planning of a plant protection device according to claim 1, characterized in that, the wind information further includes wind direction, and determining the target route and the spraying direction corresponding to each sub-path in the target route based on the wind information further includes: If the wind speed is greater than the first preset wind speed, taking the wind direction as the spraying direction; Determining the target route based on the spraying direction and the arrangement information of the operation objects within the target area.
4. The method for route planning of a plant protection device according to claim 1, characterized in that, after obtaining the wind information within the target area, the method further includes: Determining whether the wind speed is greater than a second preset wind speed; If the wind speed is greater than the second preset wind speed, determining that it is not suitable to perform spraying operations in the current environment; If the wind speed is less than or equal to the second preset wind speed, continuing to determine the target route and the spraying direction corresponding to each sub-path in the target route based on the wind information.
5. A method for controlling a plant protection device, characterized in that, the plant protection device includes a movable platform and a spraying system deployed on the movable platform, and the method includes: Controlling the movable platform and the spraying system according to the target route obtained by the method for route planning of a plant protection device according to any one of claims 1-4 and the spraying direction corresponding to each sub-path in the target route; Adjusting the output power of the spraying nozzles of the spraying system according to the wind speed.
6. The method for controlling a plant protection device according to claim 5, characterized in that, the method further includes: In the case where the spraying direction is the left and right sides of the moving direction of the movable platform, if it is detected that the current wind speed is greater than the first preset wind speed, controlling the upwind spraying nozzles in the spraying system to stop spraying; When the movable platform moves to the end, the method for planning the flight path of the plant protection equipment according to any one of claims 1-4 is repeatedly executed to obtain a new target flight path and the spraying direction corresponding to each sub-path in the new target flight path. Control the movable platform and the spraying system according to the new target flight path and the spraying direction corresponding to each sub-path in the new target flight path.
7. A device for planning the flight path of a plant protection equipment, characterized in that the plant protection equipment includes a movable platform and a spraying system deployed on the movable platform, and the device includes: an information acquisition unit for acquiring wind force information in a target area; a first processing unit for determining a target flight path and the spraying direction corresponding to each sub-path in the target flight path based on the wind force information; wherein the target flight path is the movement path of the movable platform when the plant protection equipment performs spraying operations, the target flight path includes at least one sub-path, and the spraying direction is the orientation of the spraying of the spraying system when the movable platform moves on the sub-path.
8. A device for controlling a plant protection equipment, characterized in that the plant protection equipment includes a movable platform and a spraying system deployed on the movable platform, and the device includes: a first control unit for controlling the movable platform and the spraying system according to the target flight path obtained by the method for planning the flight path of the plant protection equipment according to any one of claims 1-4 and the spraying direction corresponding to each sub-path in the target flight path; a second control unit for adjusting the output power of the spraying nozzle of the spraying system according to the wind speed.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the method according to any one of claims 1-6 is implemented.
10. An electronic device, characterized in that comprising: a processor and a memory, the memory is used for storing one or more programs; when the one or more programs are executed by the processor, the method according to any one of claims 1-6 is implemented.
11. A plant protection equipment, characterized in that the plant protection equipment includes the electronic device according to claim 10.