Control method and device of unmanned control robot and unmanned control robot

Abstract

A control method of an unmanned control robot, a control device (100), an unmanned control robot, a control terminal and a storage medium, the method comprising: determining a first position point and a second position point on a path of the unmanned control robot, the first position point is a position point at which the residual energy of the energy supply component is less than or equal to a preset energy threshold value when the energy supply component moves along the path, and the second position point is a position point at which the residual material is less than or equal to a preset material threshold value when the energy supply component moves along the path (S101); acquiring a return point of the unmanned control robot (S102); determining a third position point on the path according to the first position point, the second position point and the return point (S103); and when the unmanned control robot moves to the third position point along the path, controlling the unmanned control robot to return from the third position point to the return point (S104).

Description

Technical Field

[0001] This application relates to the technical field of unmanned control robots, and in particular to a control method, a control device, an unmanned control robot, a control terminal, and a storage medium for an unmanned control robot. Background Art

[0002] As a machine that can perform efficient spraying operations, plant protection UAVs have seen great development in recent years. During the flight operation process of a plant protection UAV, it will continuously consume medicines, electricity, fuel, etc., and the operation process cannot be continuous, and the operation will be interrupted midway for replenishment.

[0003] Currently, the judgment of the medicine replenishment position for a plant protection UAV mainly relies on the flight experience of the plant protection UAV operator: the operator roughly judges the position where the plant protection UAV will interrupt the task and return for replenishment by combining the remaining medicine amount displayed on the application program APP with the flight speed of the plant protection UAV. This method increases the operation burden of the user and the operation efficiency is very low. Summary of the Invention

[0004] Based on this, this application provides a control method, a control device, an unmanned control robot, a control terminal, and a storage medium for an unmanned control robot.

[0005] In a first aspect, this application provides a control method for an unmanned control robot. The unmanned control robot includes an energy supply component that provides energy supply for the unmanned control robot and a spraying device for containing and spraying materials. The method includes:

[0006] Determine a first position point and a second position point on the path of the unmanned control robot. Among them, the first position point is the position point where the energy of the energy supply component is consumed to the remaining energy less than or equal to a preset energy threshold when the unmanned control robot moves along the path, and the second position point is the position point where the material is consumed to the remaining material less than or equal to a preset material threshold when the unmanned control robot moves along the path;

[0007] Obtain the return point of the unmanned control robot;

[0008] Determine a third position point on the path according to the first position point, the second position point, and the return point;

[0009] When the unmanned control robot moves along the path to the third position point, control the unmanned control robot to return from the third position point to the return point.

[0010] Second aspect, the present application provides a control device for an unmanned control robot. The unmanned control robot includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. The device includes: a memory and a processor;

[0011] The memory is used to store a computer program;

[0012] The processor is used to execute the computer program and when executing the computer program, implement the following steps:

[0013] Determine a first position point and a second position point on the path of the unmanned control robot. Wherein, the first position point is the position point where the energy of the energy supply component is consumed to the remaining energy less than or equal to a preset energy threshold when the unmanned control robot moves along the path, and the second position point is the position point where the materials are consumed to the remaining materials less than or equal to a preset material threshold when the unmanned control robot moves along the path;

[0014] Obtain the return point of the unmanned control robot;

[0015] Determine a third position point on the path according to the first position point, the second position point and the return point;

[0016] When the unmanned control robot moves along the path to the third position point, control the unmanned control robot to return from the third position point to the return point.

[0017] Third aspect, the present application provides an unmanned control robot. The unmanned control robot includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. The unmanned control robot further includes the control device for the unmanned control robot as described above.

[0018] Fourth aspect, the present application provides a control terminal for an unmanned control robot. The unmanned control robot includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. The control terminal includes the control device for the unmanned control robot as described above.

[0019] Fifth aspect, the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor is caused to implement the control method for the unmanned control robot as described above.

[0020] The embodiments of the present application provide a control method, a control device, an unmanned control robot, a control terminal and a storage medium for an unmanned control robot. By considering the remaining energy and remaining materials of the energy supply component of the unmanned control robot and combining with the return point, a third position point is determined on the path of the unmanned control robot, and the unmanned control robot is controlled to return from the third position point to the return point, so that energy and / or materials can be replenished for the unmanned control robot at the return point, reducing the operation burden of the user and improving the operation efficiency of the unmanned control robot.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic flowchart of an embodiment of the control method of the unmanned control robot of the present application;

[0024] Figure 2 It is a schematic flowchart of another embodiment of the control method of the unmanned control robot of the present application;

[0025] Figure 3 It is a schematic flowchart of still another embodiment of the control method of the unmanned control robot of the present application;

[0026] Figure 4 It is a schematic flowchart of still another embodiment of the control method of the unmanned control robot of the present application;

[0027] Figure 5 It is a schematic diagram for determining the third position point in an application of the control method of the unmanned control robot of the present application;

[0028] Figure 6 It is a schematic diagram for determining the third position point in another application of the control method of the unmanned control robot of the present application;

[0029] Figure 7 It is a schematic structural diagram of an embodiment of the control device of the unmanned control robot of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings 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 those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0031] The flowcharts shown in the accompanying drawings are only illustrative examples, and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged. Therefore, the actual execution order may change according to the actual situation.

[0032] During the flight operation of the plant protection UAV, the amount of medicine, power, fuel, etc. will be continuously consumed, and it is necessary to interrupt the operation and replenish during the operation. The judgment of the medicine replenishment position for the plant protection UAV is mainly as follows: The operator roughly judges the position where the plant protection UAV will interrupt the task and return for replenishment by combining the remaining amount of medicine displayed on the application program APP with the flight speed of the plant protection UAV. This method increases the operation burden of the user and the operation efficiency is very low.

[0033] The embodiments of the present application provide a control method, a control device, an unmanned control robot, a control terminal, and a storage medium for an unmanned control robot. By considering the remaining energy and remaining materials of the energy supply component of the unmanned control robot and combining the return point, a third position point is determined on the path of the unmanned control robot, and the unmanned control robot is controlled to return from the third position point to the return point, so that energy and / or materials can be replenished for the unmanned control robot at the return point, reducing the operation burden of the user and improving the operation efficiency of the unmanned control robot.

[0034] Next, in conjunction with the accompanying drawings, some embodiments of the present application will be described in detail. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0035] See Figure 1 , Figure 1 which is a schematic flowchart of an embodiment of the control method of the unmanned control robot of the present application.

[0036] The unmanned control robot in this embodiment may refer to a robot that can move using its own power system under user control or automatic control. The unmanned control robot includes an energy supply component that provides energy supply for the unmanned control robot and a spraying device for containing and spraying materials. For example: unmanned aerial vehicles, unmanned ground robots (including unmanned agricultural vehicles, unmanned agricultural robots, unmanned sprinkler trucks, etc.), unmanned ships (including unmanned fishing boats, etc.), etc.

[0037] The energy supply components of the unmanned control robot include but are not limited to: batteries, fuel energy supply components (such as gasoline, diesel, etc.). In many application scenarios, the energy supply component often uses a battery. In different applications and / or specific operations, the materials contained and sprayed by the spraying device are different, and the materials include but are not limited to: pesticides, feeds, seeds, fertilizers or water.

[0038] The method includes: step S101, step S102, step S103 and step S104.

[0039] Step S101: Determine a first position point and a second position point on the path of the unmanned control robot, where the first position point is the position point where the energy of the energy supply component is consumed to the remaining energy less than or equal to the preset energy threshold when the unmanned control robot moves along the path, and the second position point is the position point where the material is consumed to the remaining material less than or equal to the preset material threshold when the unmanned control robot moves along the path.

[0040] The path of the unmanned control robot can refer to a pre-planned route for the unmanned control robot to move. For example, the flight path of an unmanned aerial vehicle, the path of an unmanned agricultural vehicle, etc. Specifically, the user can plan the target area for performing the spraying task through the control terminal, and plan the moving path of the unmanned control robot when performing the spraying operation task for the target area. When performing the spraying task, the unmanned control robot moves along the path. The plant protection unmanned aerial vehicle can plan the autonomous operation route task through methods such as surveying and mapping and flight marking, and can upload the route task information to the flight control system through the video transmission system. The route task information includes relevant information such as the positions of each waypoint.

[0041] The unmanned control robot will consume energy during the process of moving along the path. If the unmanned control robot does not return before the energy is exhausted, when the energy is exhausted, the unmanned control robot cannot continue to move. If the unmanned control robot is an unmanned aerial vehicle and does not return before the energy is exhausted, this is fatal to the unmanned aerial vehicle and will directly cause the unmanned aerial vehicle to crash. For other unmanned control robots, it is also necessary to tow them back specifically. Therefore, the unmanned control robot needs to return before the energy is exhausted.

[0042] The preset energy threshold can be a preset energy value used to indicate that the unmanned control robot needs to return to the return point. This preset energy threshold can ensure the energy required for the unmanned control robot to return (i.e., from a certain point on the path to the return point), guaranteeing that the unmanned control robot has a minimum required energy to return (i.e., the energy is exhausted when reaching the return point without extra energy). The preset energy threshold can be greater than or equal to this minimum energy. When the path of the unmanned control robot is known, by combining the current energy information, moving speed information, path point information on the path, etc., the first position point where the energy consumption of the power supply component during the movement of the unmanned control robot along this path reaches the remaining energy less than or equal to the preset energy threshold can be determined.

[0043] The unmanned control robot also sprays materials during movement. Materials will be consumed during the spraying process. If the materials are exhausted and spraying cannot continue, it needs to return to replenish materials and continue the operation.

[0044] The preset material threshold can be a preset material value used to indicate that the unmanned control robot needs to return to the return point. The unmanned control robot can return before the materials are exhausted or after the materials are exhausted. This preset material threshold can be greater than zero or equal to zero. When the path of the unmanned control robot is known, by combining the current material information, material spraying information, etc., the second position point where the material consumption during the movement of the unmanned control robot along this path reaches the remaining material less than or equal to the preset material threshold can be determined.

[0045] Step S102: Obtain the return point of the unmanned control robot.

[0046] The path of the unmanned control robot includes the starting path point and the ending path point of the path. The path direction can be the direction of delay from the starting path point of the path to the ending path point of the path. The return point of the unmanned control robot can be a position point that deviates from the path direction and returns from the path.

[0047] The return point includes but is not limited to: the position point when the unmanned control robot is powered on, the position point specified by the user of the unmanned control robot, or the starting position point where the unmanned control robot starts to move. If the unmanned control robot is a drone, the starting position point can be the take-off position point of the drone.

[0048] Wherein, when the return point is a position point specified by the user of the unmanned control robot, it can be a position point pre-specified by the user before the unmanned control robot starts moving, or a position point specified by the user during the movement of the unmanned control robot, or it includes both a position point pre-specified by the user before the unmanned control robot starts moving and a position point specified by the user during the movement of the unmanned control robot, or the user can also change the originally specified position point during the movement of the unmanned control robot, and so on.

[0049] It should be noted that there is no clear sequence relationship between step S101 and step S102.

[0050] Step S103: Determine a third position point on the path according to the first position point, the second position point and the return point.

[0051] Step S104: When the unmanned control robot moves along the path to the third position point, control the unmanned control robot to return from the third position point to the return point.

[0052] In this embodiment, the third position point is a point on the path and is determined according to the first position point, the second position point and the return point. When the unmanned control robot moves along the path to the third position point, the unmanned control robot will return from the third position point to the return point.

[0053] Since the remaining energy of the energy supply component of the unmanned control robot and the remaining materials in the spraying device are considered when determining the third position point on the path, in many application scenarios, the return point can be selected at a position where the unmanned control robot can be replenished (i.e., energy and / or materials) after returning. That is, the function of the return point can be to replenish materials for the spraying device of the unmanned control robot, replace the energy supply component, and / or replenish energy for the energy supply component.

[0054] In one embodiment, the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned control robot returns from the third position point to the return point.

[0055] By considering the remaining energy of the energy supply component of the unmanned control robot, the remaining materials, and combining with the return point, the embodiments of the present application determine the third position point on the path of the unmanned control robot and control the unmanned control robot to return from the third position point to the return point, so that the energy and / or materials can be replenished for the unmanned control robot at the return point, reducing the operation burden of the user and improving the operation efficiency of the unmanned control robot.

[0056] In one embodiment, in most application scenarios, after the unmanned control robot returns to the return point, the return point usually provides supplies (replenish energy, replenish materials). The user replenishes materials and fuel for the unmanned control robot, charges the battery or replaces the fully charged battery, etc. Then, the unmanned control robot returns from the return point to the third position point to continue spraying materials.

[0057] That is, in step S104, after controlling the unmanned control robot to return from the third position point to the return point, it may further include: step S105 and step S106, as Figure 2 shown.

[0058] Step S105: Record the third position point.

[0059] Step S106: After the unmanned control robot returns to the return point, in response to the resume movement instruction information, control the unmanned control robot to return from the return point to the recorded third position point and continue to move along the path.

[0060] In this embodiment, the function of the return point can be to replenish materials for the spraying device, replace the energy supply component, replenish energy for the energy supply component, or one or more of them.

[0061] The resume movement instruction information can be generated by the user's trigger, or when the unmanned control robot detects that the energy of the energy supply component increases to less than or equal to the reference energy threshold and / or the materials of the spraying device increase to less than or equal to the reference material threshold, the resume movement instruction information is generated. Among them, the reference energy threshold is greater than the preset energy threshold and less than or equal to the maximum energy value that the energy supply component can carry; the reference material threshold is greater than the preset material threshold and less than or equal to the maximum material quantity value that the spraying device can hold.

[0062] In one embodiment, the execution subject of the method in this embodiment can be an unmanned control robot, and the unmanned control robot is also equipped with a control terminal for user control. At this time, the unmanned control robot can send the third position point and / or the first position point and the second position point to the control terminal for display on the control terminal, facilitating the user to observe and facilitating the user to send control instructions to the unmanned control robot according to the observed situation. In this way, it can provide technical support for increasing the user's sense of participation and improving the user experience.

[0063] That is, the method may further include: sending the position information of the third position point to the control terminal so that the control terminal displays the third position point. The method may further include: sending the position information of the first position point and the second position point to the control terminal so that the control terminal displays the first position point and the second position point.

[0064] In another embodiment, the execution subject of the method in this embodiment may be a control terminal equipped on the unmanned control robot for users to operate and control. After the control terminal determines the first position point, the second position point, and the third position point, it can be displayed on the display device, which is convenient for users to observe and send control instructions to the unmanned control robot according to the observation situation. In this way, it can provide technical support for increasing the user's sense of participation and improving the user experience.

[0065] That is, the method may further include: controlling the display device of the control terminal to display the path and the third position point. The method may further include: displaying the first position point and the second position point on the display device of the control terminal.

[0066] By displaying the path, the first position point, the second position point, and the third position point on the path on the control terminal, the user can intuitively observe the movement process of the unmanned control robot on the display screen of the control terminal. When the unmanned control robot is about to move to the third position, the user can send a return instruction to the unmanned control robot through the control terminal. After receiving the return instruction, when the unmanned control robot moves to the third position point, it returns from the third position point to the return point. If the return point is a position point where supplies can be replenished, supplies (energy, materials) can be replenished at the return point.

[0067] Meanwhile, during the operation of the unmanned control robot, if the user updates the position of the return point or updates the operation parameters (such as updating the material spraying information, updating the path, etc.), the method of this embodiment will be re-executed in real time to complete the determination and display of the third position point.

[0068] The details of step S103 will be described in detail below.

[0069] In one embodiment, according to the remaining amounts of energy and materials, see which one reaches the preset threshold first, and determine the third position point based on the position point and the return point corresponding to the threshold that is reached first.

[0070] That is, step S103, determining the third position point on the path according to the first position point, the second position point, and the return point may include: sub-step S1031 and sub-step S1032, as Figure 3 shown.

[0071] Sub-step S1031: Determine the target position point from the first position point and the second position point. Wherein, the path includes the starting path point and the ending path point of the path, and the target position point is the position point among the first position point and the second position point that is closer to the starting path point along the path direction, and the path direction is the direction extending from the starting path point of the path to the ending path point along the path.

[0072] Sub-step S1032: Determine the third position point according to the target position point and the return point.

[0073] The path includes the starting path point and the ending path point of the path. The path direction is the direction extending along the path from the starting path point of the path to the ending path point of the path. The unmanned control robot moves along the path in the path direction. As energy and materials are consumed, whichever reaches the remaining amount first to the pre-set threshold, the position point (the first position point or the second position point) corresponding to the remaining amount that reaches the pre-set threshold first is closer to the starting path point of the path, and this corresponding position point is the target position point.

[0074] Determining the third position point according to the target position point and the return point can obtain a relatively accurate and appropriate third position point.

[0075] The planned paths have various shapes. For example, there are circular paths, square paths, zigzag paths, and so on. Among them, more commonly, the path is composed of multiple path segments. That is, the path includes multiple path segments, and the path segment includes the starting path point of the path segment. In this case, in sub-step S1032, the determining the third position point according to the target position point and the return point may include: sub-step S10321, sub-step S10322, and sub-step S10323, as Figure 4 shown.

[0076] Sub-step S10321: Determine the target path segment where the target position point is located from the multiple path segments.

[0077] Sub-step S10322: Determine the projection position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located.

[0078] Sub-step S10323: Determine the third position point according to the projection position point.

[0079] In this embodiment, since the projection position point is the position point closest to the return point, determining the third position point according to the projection position point can obtain the optimal third position point. When the unmanned control robot is operating, it can reduce the no-load moving distance and improve the operation efficiency of the unmanned control robot.

[0080] When the projection position point corresponding to the return point is on the target path segment, it is necessary to compare the distances between the projection position point and the target position point and the starting path point of the target path segment respectively, and select the position point closest to the starting path point of the target path segment from the two (the projection position point, the target position point) as the third position point.

[0081] When the projection position point corresponding to the return point is not on the target path segment but on the target straight line where the target path segment is located, it is necessary to compare the distances between the starting path point of the target path segment, the target position point and the return point respectively, and select the position point closest to the return point from the two (the starting path point of the target path segment, the target position point) as the third position point.

[0082] That is, the sub-step S10323 can specifically have the following several situations:

[0083] The first situation is that the projection position point is on the target path segment and the projection position point is close to the starting path point of the target path segment, then the projection position point is determined as the third position point, that is, the sub-step S10323. The determining the third position point according to the projection position point may include: when the projection position point is on the target path segment and the projection position point is closer to the starting path point of the target path segment than the target position point along the path direction, determining the projection position point as the third position point.

[0084] The second situation is that the projection position point is on the target path segment, but the projection position point is not close to the starting path point of the target path segment, and the target position point is close to the starting path point of the target path segment, then the target position point is determined as the third position point, that is, the sub-step S10323. The determining the third position point according to the projection position point may include: when the projection position point is on the target path segment and the target position point is closer to the starting path point of the target path segment than the projection position point along the path direction, determining the target position point as the third position point.

[0085] The third situation is that the projection position point is not on the target path segment (on the target straight line where the target path segment is located). According to the distances between the starting path point of the target path segment, the target position point and the return point respectively, select the position point closest to the return point from the two as the third position point, that is, the sub-step S10323. The determining the third position point according to the projection position point may include: when the projection position point is not on the target path segment, determining a first distance between the starting path point of the target path segment and the return point and a second distance between the target position point and the return point; determining the third position point according to the first distance and the second distance, where the third position point is the position point with a smaller distance from the return point among the starting path point of the target path segment and the target position point.

[0086] Taking the unmanned control robot as an unmanned aerial vehicle (i.e., an unmanned aircraft), the energy supply component as a battery, and the material as pesticides as an example, the method of the embodiment of the present application will be described in detail.

[0087] The method of this embodiment mainly includes the following steps: uploading the operation route (i.e., the path), calculating the drug-free position point (i.e., the second position point) and the power-off position point (i.e., the first position point), calculating the supply position point (i.e., the third position point), displaying the supply position point, performing plant protection operations, dynamically refreshing the return point (i.e., the return point), and recalculating the position of the supply point.

[0088] The plant protection UAV can plan the route task of autonomous operation through methods such as surveying and flight marking, and can upload the route task information to the flight control system through the image transmission system. The route task information includes relevant information such as the positions of each waypoint.

[0089] The flight control system can obtain the current drug amount information and power amount information of the UAV through existing technologies. According to the current drug amount information and power amount information of the UAV, combined with the route information, the drug-free position point P1 and the power-off position point P2 on the route can be calculated. When calculating the power-off position point P2, it is necessary to consider that the UAV can fly back from point P2 to the return point.

[0090] Combined with reference to Figure 5 and Figure 6 , the flight control system can calculate the optimal supply position point according to the calculated drug-free position point P1 and power-off position point P2, combined with the relevant route information. The specific process is as follows:

[0091] 1) The flight control system determines the position point that is ahead among the two points P1 and P2 (i.e., the target position point, and the arrow direction in the figure is the path direction) according to the drug-free position point P1 and the power-off position point P2, and sets this position point (i.e., the target position point) as P, and determines the endpoint (i.e., the starting path point of the path segment) T of the flight segment where point P is located.

[0092] 2) The flight control system obtains the return point H for implementing the return. This position H can be refreshed by the user through the remote control for the case where the user adjusts the return point in real time.

[0093] 3) As Figure 5 shown, determine the projection position point S of the return point H on the straight line (i.e., the target straight line) where the flight segment MT is located. If the projection position point S is on the flight segment MT, then judge the relative position relationship between point S, point P and point T respectively. If point P is closer to point T, then take point P as the optimal supply position point (i.e., the third position point); otherwise, take point S as the optimal supply position point.

[0094] 4) As Figure 6 shown, if the projection position point S of the return point H on the straight line (i.e., the target straight line) where the flight segment MT is located is not on the flight segment MT, but on the extension line of MT (shown by the dotted line in the figure), then it is necessary to compare the lengths of the line segments PH and TH. If PH is less than TH, then take point P as the optimal supply position point; otherwise, take point T as the optimal supply position point.

[0095] The flight control system pushes the optimal supply position point to the application APP of the control terminal, and the display device of the control terminal displays the APP. The APP can display the optimal supply position point. During the operation, the user can, according to the optimal supply position point displayed by the APP on the display device, control the aircraft to return when the aircraft approaches the optimal supply position point, so as to facilitate the supply of the aircraft.

[0096] Meanwhile, during the operation, if the user updates the return point position or updates the operation parameters, the above steps will be executed again in real time to complete the determination and display of the optimal supply position point.

[0097] Through the above steps, the operation burden of the user can be reduced, and the operation efficiency can be improved.

[0098] See Figure 7 , Figure 7 is a schematic structural diagram of an embodiment of the control device of the unmanned control robot of the present application. The unmanned control robot includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. It should be noted that the control device of this embodiment can execute the steps in the control method of the above unmanned control robot. For the detailed description of related content, please refer to the related content of the control method of the above unmanned control robot, which will not be elaborated here.

[0099] The control device 100 includes: a memory 1 and a processor 2; the processor 2 is connected to the memory 1 through a bus.

[0100] Among them, the processor 2 can be a micro control unit, a central processing unit or a digital signal processor, etc.

[0101] Among them, the memory 1 can be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a USB flash drive or a mobile hard disk, etc.

[0102] The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and when executing the computer program, the following steps are realized:

[0103] Determine a first position point and a second position point on the path of the unmanned control robot, where the first position point is the position point where the energy consumption of the energy supply component is reduced to the remaining energy less than or equal to a preset energy threshold when the unmanned control robot moves along the path, and the second position point is the position point where the material consumption is reduced to the remaining material less than or equal to a preset material threshold when the unmanned control robot moves along the path; obtain the return point of the unmanned control robot; determine a third position point on the route according to the first position point, the second position point and the return point; when the unmanned control robot moves along the path to the third position point, control the unmanned control robot to return from the third position point to the return point.

[0104] Wherein, the material includes pesticides, feeds, seeds, fertilizers or water.

[0105] Wherein, the energy supply component includes a battery.

[0106] Wherein, the return point includes the position point when the unmanned control robot is powered on, the position point designated by the user of the unmanned control robot or the position point where the unmanned control robot starts to move.

[0107] Wherein, the preset energy threshold is greater than or equal to the energy consumed by the energy supply component when the unmanned control robot returns from the third position point to the return point.

[0108] Wherein, when the processor executes the computer program, the following steps are implemented: record the third position point; after the unmanned control robot returns to the return point, in response to the resume movement instruction information, control the unmanned control robot to return from the return point to the recorded third position point and continue to move along the path.

[0109] Wherein, when the processor executes the computer program, the following steps are implemented: send the position information of the third position point to the control terminal so that the control terminal displays the third position point.

[0110] Wherein, when the processor executes the computer program, the following steps are implemented: send the position information of the first position point and the second position point to the control terminal so that the control terminal displays the first position point and the second position point.

[0111] Wherein, when the processor executes the computer program, the following steps are implemented: control the display device of the control terminal to display the path and the third position point.

[0112] Wherein, when the processor executes the computer program, the following steps are implemented: display the first position point and the second position point on the display device of the control terminal.

[0113] Wherein, when the processor executes the computer program, the following steps are implemented: determining a target position point from the first position point and the second position point, wherein the path includes a starting path point and an ending path point of the path, the target position point is the position point among the first position point and the second position point that is closer to the starting path point along the path direction, and the path direction is the direction extending from the starting path point of the path to the ending path point of the path along the path; determining the third position point according to the target position point and the return point.

[0114] Wherein, when the processor executes the computer program, the following steps are implemented: determining the target path segment where the target position point is located from the multiple path segments; determining the projection position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located; determining the third position point according to the projection position point.

[0115] Wherein, when the processor executes the computer program, the following steps are implemented: if the projection position point is on the target path segment and the projection position point is closer to the starting path point of the target path segment than the target position point along the path direction, determining the projection position point as the third position point.

[0116] Wherein, when the processor executes the computer program, the following steps are implemented: if the projection position point is on the target path segment and the target position point is closer to the starting path point of the target path segment than the projection position point along the path direction, determining the target position point as the third position point.

[0117] Wherein, when the processor executes the computer program, the following steps are implemented: if the projection position point is not on the target path segment, determining a first distance between the starting path point of the target path segment and the return point and a second distance between the target position point and the return point; determining the third position point according to the first distance and the second distance, wherein the third position point is the position point among the starting path point of the target path segment and the target position point that is closer to the return point.

[0118] The present application further provides an unmanned control robot, which includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. The unmanned control robot further includes the control device of the unmanned control robot according to any one of the above except that the execution subject is a control terminal. For the detailed description of the relevant content, please refer to the part of the control device of the unmanned control robot above, and details will not be repeated here.

[0119] The present application also provides a control terminal for an unmanned control robot. The unmanned control robot includes an energy supply component for supplying energy to the unmanned control robot and a spraying device for containing and spraying materials. The control terminal includes the control device of the unmanned control robot according to any one of the above, except that the execution subject is the unmanned control robot. For the detailed description of the relevant content, please refer to the part of the control device of the unmanned control robot above, and will not be repeated here.

[0120] The present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to implement the control method of the unmanned control robot according to any one of the above. For the detailed description of the relevant content, please refer to the above relevant content part, and will not be repeated here.

[0121] Among them, the computer-readable storage medium may be an internal storage unit of the above control device, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

[0122] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0123] It should also be understood that the term "and / or" used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0124] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for an unmanned robot, characterized in that, The method includes: Determining a first position point and a second position point on the path of the unmanned controlled robot, where the first position point is the position point at which the energy consumption of the energy supply component is reduced to the remaining energy less than or equal to a preset energy threshold when the unmanned controlled robot moves along the path, and the second position point is the position point at which the material carried by the unmanned controlled robot is consumed to the remaining material less than or equal to a preset material threshold when the unmanned controlled robot moves along the path; Obtaining the return point of the unmanned controlled robot; Determining a third position point on the path according to the first position point, the second position point and the return point; and When the unmanned controlled robot moves along the path to the third position point, controlling the unmanned controlled robot to return from the third position point to the return point; During the process of the unmanned controlled robot performing operations along the path, in response to the update of the return point and / or the update of the operation parameters, re-executing the step of determining the third position point.

2. The method according to claim 1, wherein Wherein, The operation parameters include the path information and / or spraying information of the unmanned controlled robot.

3. The method according to claim 1, wherein The return point conforms to any of the following situations: The return point includes the position point when the unmanned controlled robot is powered on; The return point includes the position point designated by the user of the unmanned controlled robot; The return point includes the position point where the unmanned controlled robot starts to move.

4. The method according to claim 1, wherein The return point includes the position point designated by the user during the movement of the unmanned controlled robot; or, the return point includes the originally designated position point changed by the user during the movement of the unmanned controlled robot.

5. The method according to claim 1, characterized in that, The method further includes: Recording the third position point; After the unmanned controlled robot returns to the return point, in response to the resume movement instruction information, controlling the unmanned controlled robot to return from the return point to the recorded third position point and continue to move along the path.

6. The method according to claim 1, characterized in that, The method further includes: sending the position information of the third position point to the control terminal so that the control terminal displays the third position point; and / or, sending the position information of the first position point and the second position point to the control terminal so that the control terminal displays the first position point and the second position point, where the control terminal is used to control the unmanned controlled robot.

7. The method according to any one of claims 1-6, characterized in that, The determining the third position point on the path according to the first position point, the second position point and the return point includes: Determining a target position point from the first position point and the second position point, where the path includes a starting path point and an ending path point of the path, the target position point is the position point among the first position point and the second position point that is closer to the starting path point along the path direction, and the path direction is the direction extending from the starting path point of the path to the ending path point of the path; Determining the third position point according to the target position point and the return point.

8. The method according to claim 7, wherein The path includes multiple path segments, and the path segment includes a starting path point of the path segment. Wherein, the determining the third position point according to the target position point and the return point includes: Determine the target path segment where the target position point is located from the multiple path segments; Determine the projection position point of the return point on the target straight line, where the target straight line is the straight line where the target path segment is located; Determine the third position point according to the projection position point.

9. The method according to claim 8, characterized in that, The determining the third position point according to the projection position point includes: If the projection position point is on the target path segment and the projection position point is closer to the starting path point of the target path segment than the target position point along the path direction, determine the projection position point as the third position point.

10. The method according to claim 8, wherein The determining the third position point according to the projection position point includes: If the projection position point is on the target path segment and the target position point is closer to the starting path point of the target path segment than the projection position point along the path direction, determine the target position point as the third position point.

11. The method according to claim 8, wherein The determining the third position point according to the projection position point includes: If the projection position point is not on the target path segment, determine the first distance between the starting path point of the target path segment and the return point and the second distance between the target position point and the return point; Determine the third position point according to the first distance and the second distance, where the third position point is the position point with a smaller distance from the return point among the starting path point of the target path segment and the target position point.

12. The method according to claim 1, wherein The return point is updated based on the input of the user on the control terminal, where the control terminal is used to control the unmanned control robot.

13. A control device for an unmanned robot, characterized in that, The device includes: a memory and a processor; The memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, implement the steps of the control method according to any one of claims 1-12.

14. An unmanned control robot, the unmanned control robot includes an energy supply component for providing energy supply to the unmanned control robot, characterized in that, The unmanned control robot further includes the control device of the unmanned control robot according to claim 13.

15. A control terminal for an unmanned robot, the unmanned robot including an energy supply component that provides energy supply for the unmanned robot, characterized in that, The control terminal includes the control device of the unmanned control robot according to claim 13.

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