Unmanned aerial vehicle automatic spraying method and device, unmanned aerial vehicle spraying equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle automatic spraying method, device and equipment and a storage medium, and the method comprises the steps: obtaining a scene image collected by a camera arranged in a spraying scene when it is detected that a to-be-sprayed unmanned aerial vehicle enters the spraying scene; identifying and analyzing the scene image to obtain an unmanned aerial vehicle identifier contained in the scene image, and determining whether the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier enters the scene for the first time according to the unmanned aerial vehicle identifier; when it is determined that the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier enters the field for the first time, the size information and the spraying requirement of the unmanned aerial vehicle to be sprayed are obtained, and the spraying requirement comprises the spraying position; determining a first spraying robot for spraying the unmanned aerial vehicle corresponding to the unmanned aerial vehicle identifier, and determining a spraying path of the first spraying robot for spraying on the to-be-sprayed robot according to the size information and the spraying requirement; and a spray gun of the first spraying robot is controlled to conduct spraying movement according to the spraying path. And the spraying efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of drone spraying processing technology, and in particular to a drone automatic spraying method, device, drone spraying equipment and storage medium. Background Art

[0002] With the continuous development of society and technology, intelligence and automation are constantly appearing in life and work, effectively improving work efficiency through automated processing.

[0003] At present, in the industrial production of drone spraying, the spraying process is usually completed manually. The operator controls the spraying equipment based on experience to spray the drone. However, manual operation not only has the problem of poor spraying efficiency.

[0004] Therefore, there is an urgent need for an automatic UAV spraying method that can improve spraying efficiency and accuracy. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a drone automatic spraying method, device, drone spraying equipment and storage medium to solve the technical problems of poor spraying effect and efficiency in related technologies.

[0006] In a first aspect, an embodiment of the present application provides a method for automatic spraying by a drone, comprising: When it is detected that the spraying drone enters the spraying scene, a scene image captured by a camera set in the spraying scene is acquired; Identify and analyze the scene image to obtain a drone identifier contained in the scene image, and determine, based on the drone identifier, whether the drone corresponding to the drone identifier is entering the scene for the first time; When it is determined that the drone corresponding to the drone identifier is entering the site for the first time, obtaining size information and spraying requirements of the drone to be sprayed, wherein the spraying requirements include a spraying position; Determining a first spraying robot to perform spraying on the drone corresponding to the drone identifier, and determining a spraying path for the first spraying robot to perform spraying on the robot to be sprayed based on the size information and the spraying requirement; The spray gun of the first spraying robot is controlled to move for spraying according to the spraying path, so as to spray the unmanned aerial vehicle to be sprayed.

[0007] In a second aspect, an embodiment of the present application provides an automatic spraying device for a drone, comprising: An image acquisition module is used to acquire a scene image captured by a camera set in the spraying scene when it is detected that the spraying drone enters the spraying scene; an identification and processing module, configured to identify and analyze the scene image, obtain a drone identifier contained in the scene image, and determine, based on the drone identifier, whether the drone corresponding to the drone identifier is entering the scene for the first time; A first processing module is configured to obtain size information and spraying requirements of the drone to be sprayed when it is determined that the drone corresponding to the drone identifier enters the site for the first time, wherein the spraying requirements include a spraying position; A second processing module is used to determine a first spraying robot that sprays the drone corresponding to the drone identifier, and determine a spraying path for the first spraying robot to spray on the robot to be sprayed based on the size information and the spraying requirement; The regulating control module is used to control the spray gun of the first spraying robot to move for spraying according to the spraying path, so as to spray the UAV to be sprayed.

[0008] In a third aspect, an embodiment of the present application provides a drone spraying device, which includes a processor, a memory, and a computer program or embedded program stored in the internal storage of the memory and runnable on the processor. When the processor executes the computer program or embedded program, it implements the steps in any one of the above-mentioned drone automatic spraying methods.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program or an embedded program. When the computer program or embedded program is executed by a processor, it implements the steps in any of the above-mentioned drone automatic spraying methods.

[0010] The embodiment of the present application provides a method, device, drone spraying equipment and storage medium for automatic drone spraying. When a drone to be sprayed is detected entering a spraying scene, a scene image captured by a camera set in the spraying scene is obtained; the scene image is identified and analyzed to obtain a drone identifier contained in the scene image, and it is determined whether the drone to be sprayed is entering the scene for the first time. When it is determined to be the first time entering the scene, the size information and spraying requirements of the drone to be sprayed are obtained to determine the first spraying robot to perform the spraying process. Finally, the spraying path of the first spraying robot is obtained based on the size information and the spraying requirements, and the first spraying robot is controlled to move based on the spraying path to perform the spraying process on the drone to be sprayed. By analyzing and processing the collected image, and combining the characteristics of the drone to be sprayed and the spraying requirements, a spraying robot to perform the spraying process is obtained, and a planning process is performed to obtain the moving path of the spraying robot when performing path planning, thereby effectively improving the spraying efficiency and spraying accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a flow chart of the steps of the automatic spraying method of a drone provided in an embodiment of the present application; Figure 2 This is a flow chart of the steps of obtaining a spraying path of a first spraying robot provided in an embodiment of the present application; Figure 3 This is a structural diagram of the automatic spraying device of a drone provided in an embodiment of the present application; Figure 4 This is a structural diagram of the drone spraying equipment provided in an embodiment of the present application; Figure 5 This is another structural schematic diagram of the drone spraying equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0013] It should be understood that the various steps described in the method embodiments disclosed herein may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0014] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0015] In the related art, in the industrial production of drone spraying, the spraying process is usually completed manually, and the operator controls the spraying equipment based on experience to spray the drone. However, manual operation not only has the problem of poor spraying efficiency.

[0016] In order to solve the technical problems existing in the related art, the embodiment of the present application provides a method for automatic spraying by a drone, see Figure 1 , Figure 1 This is a flow chart of the steps of the drone automatic spraying method provided in an embodiment of the present application, which includes steps 101 to 105.

[0017] Step 101: When it is detected that the spraying drone enters the spraying scene, a scene image captured by a camera set in the spraying scene is obtained.

[0018] In fact, when using a spraying robot to spray a drone to be sprayed, the drone to be sprayed is moved to the corresponding spraying scene, and then the set spraying robot is used to spray the drone to be sprayed according to actual needs. When spraying, multiple drones to be sprayed can be sprayed at the same time. At this time, all spraying areas in the spraying scene can be monitored in real time, and then the characteristics of the drones to be sprayed that need to be sprayed can be combined to obtain the spraying robot used to spray the drone to be sprayed, and the spraying instructions for controlling the spraying robot are obtained to control the spray gun of the spraying robot to spray and move in a determined manner to complete the spraying of the drone to be sprayed.

[0019] In one embodiment, when it is detected that the drone to be sprayed enters the spraying scene, the scene image captured by the camera set in the spraying scene is obtained, and the drone identification of the drone to be sprayed contained in the scene image is determined by analyzing the scene image, and then a plan for spraying it is obtained based on the drone identification.

[0020] For example, when it is detected that the drone to be sprayed enters the spraying scene, the set image acquisition device, such as a camera, will be used to take pictures and obtain a scene image containing the drone. When it is determined that the drone to be sprayed enters the spraying scene, the set relevant sensor equipment can be used for monitoring, without specific restrictions.

[0021] Step 102 : Identify and analyze the scene image to obtain the drone identification contained in the scene image, and determine whether the drone corresponding to the drone identification is entering the scene for the first time based on the drone identification.

[0022] In one embodiment, after the scene image is collected, the scene image is analyzed and processed, and the drone to be sprayed in the scene image is identified to obtain the drone identification of the drone to be sprayed.

[0023] Exemplarily, when the scene image is identified and analyzed, it can be determined through image comparison, similarity calculation, feature recognition, and coding information recognition. Therefore, when the scene image is analyzed and processed to obtain the drone identification, it includes: calculating the similarity between the scene image and each image in the drone library, and taking the identification information of the image corresponding to the highest similarity greater than a preset threshold as the drone identification of the drone to be sprayed; or, identifying the drone feature information contained in the scene image, and analyzing and processing the drone feature information to obtain the drone identification of the drone to be sprayed; or, identifying the coding information contained in the scene image, and identifying and processing the coding information to obtain the drone identification of the drone to be sprayed.

[0024] In practical applications, when determining the drone identification of the drone to be sprayed, the collected scene images are subjected to multi-dimensional analysis. By using technical means such as image recognition, feature extraction or code parsing, the accurate identification of the drone identification is ensured, thereby laying a solid foundation for the efficient execution of the subsequent spraying process. Therefore, during processing, the acquired scene image can be compared with the pre-set drone image library, combined with real-time status feedback, to accurately lock the drone identification. It can also identify the drone feature information contained in the scene image, such as color, shape, size, etc., and through comprehensive analysis of these features, further verify and confirm the specific model and identification of the drone. It can also identify the coded information contained in the scene image, such as QR code, barcode, etc., and parse the specific coded content through decoding technology, so as to accurately determine the model and identification of the drone.

[0025] It should be noted that in order to determine the drone identification based on the above method, corresponding processing is required in advance, such as pre-storing or setting the images, feature information and coding data of each drone, building a detailed drone gallery, and setting a reasonable similarity threshold and feature recognition algorithm to ensure that the specific model and identification of the drone to be sprayed can be quickly and accurately identified in actual applications.

[0026] Step 103 : When it is determined that the drone corresponding to the drone identifier is entering the site for the first time, the size information and spraying requirements of the drone to be sprayed are obtained, wherein the spraying requirements include the spraying position.

[0027] In one embodiment, after obtaining the drone identification of the drone to be sprayed by analyzing and processing the scene image, it is determined whether the drone to be sprayed is entering for the first time based on the drone identification. When it is determined to be the first time entering, the size information and spraying requirements of the drone to be sprayed will be obtained to determine the target spraying robot and the control method of the first spraying robot, such as the control method of the spray gun of the first spraying robot.

[0028] In practical applications, for drones that need to be sprayed, their spraying conditions can be recorded and processed during the spraying process, including the spraying area where the spraying process is performed. Then, when a drone of the same model enters the spraying scene to perform the spraying process, the corresponding recorded control method for the spraying robot can be obtained. Therefore, after obtaining the drone identification of the drone to be sprayed, it is determined whether it is the first entry. If it is determined that it is not the first entry, the spraying robot and the control method for the spraying robot can be determined from the pre-recorded data information. If it is the first entry, subsequent analysis and processing will be required based on the drone identification to determine the spraying robot to be sprayed and the control method for the spraying robot.

[0029] Furthermore, when determining whether the robot to be sprayed is entering the site for the first time, the process includes: obtaining a pre-recorded list of recorded drones, and searching and matching in the recorded drone list according to the drone identifier; if the drone identifier exists in the recorded drone list, it is determined that it is not the first entry; if the drone identifier does not exist in the recorded drone list, it is determined that it is the first entry.

[0030] Specifically, when determining whether the robot to be sprayed is entering for the first time, the identified drone identifier is compared with a pre-recorded and stored list of recorded drones. If the drone identifier of the drone to be sprayed is included in the recorded drone list, it is determined to be not the first entry; otherwise, it is determined to be the first entry.

[0031] In addition, when it is determined that it is the first entry, it is necessary to re-determine and plan the spraying robot for spraying and the control method of the spraying robot. Therefore, when it is determined that the drone corresponding to the drone identification is entering for the first time, obtaining the size information and spraying requirements of the drone to be sprayed includes: when it is determined that the drone corresponding to the drone identification is entering for the first time, obtaining the pre-set drone information list and drone spraying list; querying and matching in the drone information list and the drone spraying list according to the drone identification, and obtaining the size information and spraying requirements of the drone to be sprayed.

[0032] When spraying drones, each drone after spraying can be recorded, including the identification information of the sprayed drone and the spray area that matches the drone, to form a corresponding drone information list and drone spray list. The drone information list records the correspondence between drone identification and drone size information, and the drone spray list records the correspondence between drones and spray requirements. When determining the size information and spray requirements of the drone to be sprayed, the size information and spray requirements of the drone to be sprayed can be obtained by querying the corresponding list.

[0033] When it is determined that it is not the first entry, the spraying robot and the method of controlling the spraying robot can be obtained by querying according to the drone identification. Among them, when querying according to the drone identification, it includes: when it is determined that the drone corresponding to the drone identification is not the first entry, querying in the recorded drone list according to the drone identification to obtain the control instructions of the second spraying robot used when spraying the drone to be sprayed; sending the control instructions to the first spraying robot, so that the first spraying robot responds to the control instructions to spray the drone to be sprayed.

[0034] Specifically, when it is determined that the drone to be sprayed is not entering for the first time, the drone identifier is used to query the list of recorded drones to obtain the control instructions of the second spraying robot for spraying the drone to be sprayed, and then the control instructions are sent to the second spraying robot so that the second spraying robot responds to the control instructions to complete the spraying of the drone to be sprayed.

[0035] Step 104 : determining a first spraying robot for spraying the drone corresponding to the drone identifier, and determining a spraying path for the first spraying robot to spray on the robot to be sprayed based on the size information and the spraying requirements.

[0036] In one embodiment, after determining that the drone to be sprayed is entering for the first time, subsequent processing will be performed based on the drone identification of the drone to be sprayed, including determining the first spraying robot that sprays the drone to be sprayed, and the spraying path of the first spraying robot for spraying the drone to be sprayed.

[0037] For example, when a spraying drone is being sprayed, the content sprayed can be patterns, text, numbers, etc., or a combination of multiple contents, but they are all determined by position and size. Therefore, when determining the spraying path for the first spraying robot to perform spraying, the spraying path is planned according to the size of the pattern and / or text to be sprayed, and a spraying path that can quickly complete the spraying process is obtained, and then the spray gun of the first spraying robot is controlled to move based on the determined spraying path.

[0038] When determining the spraying path of the first spraying robot for spraying the spraying drone, you can refer to Figure 2 , Figure 2 This is a flow chart of the steps for obtaining the spraying path of the spraying robot provided in an embodiment of the present application, wherein the steps include steps 201 to 203.

[0039] Step 201: Obtain available spraying robots in a spraying scene, and filter the available spraying robots according to size information to obtain a first robot set; Step 202: Screening the first robot set according to the spraying requirements to obtain a first spraying robot that will perform spraying on the spraying drone; Step 203 : Acquire a spray pattern in the spray requirement, and perform spray planning on the first spray robot according to the spray pattern to obtain a spray path of the first spray robot.

[0040] For example, when planning the spraying path, the first spraying robot to be used for spraying the drone to be sprayed is first determined. Specifically, the available spraying robots in the scene to be sprayed are obtained, wherein the available spraying robots are spraying robots that are idle in the spraying scene. Then, the available spraying robots are screened according to the size information of the drone to be sprayed to obtain the first robot set that can meet the requirements for spraying various positions on the drone to be sprayed. At this time, when screening, since the sizes of the drones to be sprayed may vary, such as the heights of the drones, when the movable height of the spray robot is lower than the height of the drone for spraying, it means that the requirements for spraying are not met at this time, so it needs to be filtered out.

[0041] Then, screening is performed again in the first robot set, and the first spraying robot for spraying the UAV to be sprayed is obtained by screening in the first robot set according to the spraying requirements. In actual applications, the spray gun of the spraying robot needs to spray all directions of the UAV. Therefore, when spraying, the spraying robot needs to meet the spraying requirements of all directions of the UAV to be sprayed, such as spraying time. Through screening, the first spraying robot that meets the spraying requirements is obtained. Among them, when there are multiple spraying robots that meet the spraying requirements, the spraying robots can be screened based on the spraying time, such as the relationship between the power of the spraying robot and the spraying time. It can also be screened according to the time it takes for the spraying robot to move to the spraying position of the UAV to be sprayed. When there are still multiple robots that meet the requirements, random selection can be performed.

[0042] Step 105 : Control the spray gun of the first spray robot to move for spraying according to the spraying path, so as to spray the drone to be sprayed.

[0043] In one embodiment, after determining the first spraying robot and the spraying path for spraying the drone to be sprayed, the spray gun of the first spraying robot is controlled to move for spraying according to the spraying path to complete the spraying of the drone to be sprayed.

[0044] In addition, after the first spraying robot completes the spraying process of the spraying drone, the spraying information of the spraying drone, including the spraying robot and the spraying path, can be recorded and stored, specifically including: when it is detected that the first spraying robot has completed spraying, recording the target control instructions for controlling the first spraying robot generated based on the spraying path; associating the target control instructions with the drone identification, and storing them in the recorded drone list.

[0045] Specifically, after detecting that the first spraying robot has completed the spraying process of the drone to be sprayed, it indicates that the spraying is successful, and subsequent spraying process can be performed based on the currently used spraying method. Therefore, at this time, the target control instructions generated based on the spraying path can be recorded, and then the target control instructions can be associated with the drone identification of the drone to be sprayed to store them in the recorded drone list.

[0046] In summary, the above embodiment provides a method for automatic spraying of drones. When it is detected that the drone to be sprayed enters the spraying scene, a scene image captured by a camera set in the spraying scene is obtained; the scene image is identified and analyzed to obtain the drone identification contained in the scene image, and it is determined whether the drone to be sprayed is entering the scene for the first time. When it is determined to be the first time entering the scene, the size information and spraying requirements of the drone to be sprayed are obtained to determine the first spraying robot to perform the spraying process. Finally, the spraying path of the first spraying robot is obtained based on the size information and the spraying requirements, so as to control the movement of the first spraying robot based on the spraying path. By analyzing and processing the collected image, and combining the characteristics of the drone to be sprayed and the spraying requirements, a spraying robot to perform the spraying process is obtained, and planning processing is performed to obtain the moving path of the spraying robot when performing path planning, which effectively improves the spraying efficiency and spraying accuracy.

[0047] According to the method described in the above embodiment, this embodiment will be further described from the perspective of a drone automatic spraying device. The drone automatic spraying device can be implemented as an independent entity or integrated into drone spraying equipment, such as a terminal, which can include a mobile phone, a tablet computer, etc.

[0048] See Figure 3 , Figure 3 This is a structural diagram of the automatic spraying device of the drone provided in the embodiment of the present application. Figure 3 As shown, the drone automatic spraying device 300 provided in the embodiment of the present application includes: The image acquisition module 301 is used to acquire a scene image captured by a camera set in the spraying scene when it is detected that the spraying drone enters the spraying scene; The recognition processing module 302 is used to recognize and analyze the scene image to obtain the drone identification contained in the scene image, and determine whether the drone corresponding to the drone identification is entering the scene for the first time based on the drone identification; The first processing module 303 is configured to obtain the size information and spraying requirements of the drone to be sprayed when it is determined that the drone corresponding to the drone identifier is entering the site for the first time, wherein the spraying requirements include the spraying position; The second processing module 304 is used to determine the first spraying robot that sprays the drone corresponding to the drone identifier, and determine the spraying path of the first spraying robot on the robot to be sprayed based on the size information and the spraying requirements; The adjustment control module 305 is used to control the spray gun of the first spraying robot to move for spraying according to the spraying path.

[0049] In one embodiment, the identification processing module 302 is further configured to: Calculate the similarity between the scene image and each image in the drone image library, and use the identification information of the image corresponding to the highest similarity greater than a preset threshold as the drone identification of the drone to be sprayed; or Identify the drone feature information contained in the scene image, and analyze and process the drone feature information to obtain the drone identification of the drone to be sprayed; or Identify the coded information contained in the scene image, and perform recognition processing on the coded information to obtain the drone identification of the drone to be sprayed.

[0050] In one embodiment, the first processing module 303 is further configured to: Obtain a pre-recorded list of recorded drones, and perform searches and matches in the list of recorded drones based on the drone ID; If a drone logo is found in the list of recorded drones, it is determined not to be the first entry; If the drone identifier does not exist in the list of recorded drones, it is determined to be the first entry.

[0051] In one embodiment, the first processing module 303 is further configured to: When it is determined that the drone corresponding to the drone identifier is entering the venue for the first time, a pre-set drone information list and drone spray list are obtained; According to the drone identification, query and match are performed in the drone information list and the drone spraying list respectively to obtain the size information and spraying requirements of the drone to be sprayed.

[0052] In one embodiment, the second processing module 304 is further configured to: Obtain available spraying robots in the spraying scene, and filter the available spraying robots according to size information to obtain a first robot set; Screening the first robot set according to the spraying requirements to obtain a first spraying robot for spraying the spraying drone; A spraying pattern in the spraying requirement is obtained, and spraying planning is performed on the first spraying robot according to the spraying pattern to obtain a spraying path of the first spraying robot.

[0053] In one embodiment, the first processing module 303 is further configured to: When it is determined that the drone corresponding to the drone identifier is not entering the site for the first time, a query is performed in the recorded drone list according to the drone identifier to obtain a control instruction for the second spraying robot used when the spraying drone is spraying; The control instruction is sent to the first spraying robot, so that the first spraying robot responds to the control instruction to spray the UAV to be sprayed.

[0054] In one embodiment, the drone automatic spraying device 300 further includes a recording module for: When it is detected that the first spraying robot has completed spraying, a target control instruction for controlling the first spraying robot generated based on the spraying path is recorded; The target control command is associated with the drone ID and stored in the recorded drone list.

[0055] Also, see Figure 4 , Figure 4 This is a structural diagram of the drone spraying equipment provided in the embodiment of the present application. Figure 4 As shown, the drone spraying device 400 includes a processor 401 and a memory 402. The processor 401 is electrically connected to the memory 402.

[0056] The processor 401 is the control center of the drone spraying equipment 400. It uses various interfaces, circuits and other lines to connect the various parts of the entire drone spraying equipment. By running or loading the application stored in the internal flash of the memory 402, which can be an embedded program, and calling the data stored in the memory 402, it can realize the adjustment and control of the drone that needs to be sprayed based on the drone automatic spraying method recorded above.

[0057] In this embodiment, the processor 401 in the drone spraying equipment 400 will load the instructions corresponding to the processes of one or more applications into the memory 402 in accordance with the steps in the drone automatic spraying method described above, and the processor 401 will run the application stored in the memory 402, thereby realizing the adjustment and control of the drone that needs to be sprayed.

[0058] The drone spraying equipment 400 can implement the steps in any embodiment of the drone automatic spraying method provided in the embodiments of the present application. Therefore, it can achieve the beneficial effects that can be achieved by any drone automatic spraying method provided in the embodiments of the present application. Please refer to the previous embodiments for details and will not be repeated here.

[0059] See Figure 5 , Figure 5 This is another structural diagram of the drone spraying equipment provided in the embodiment of the present application. Figure 5 As shown, Figure 5 The specific structural block diagram of the drone spraying equipment provided in an embodiment of the present application is shown. The drone spraying equipment can be used to implement the drone automatic spraying method provided in the above embodiment.

[0060] RF circuit 510 is used to receive and transmit electromagnetic waves, converting them into electrical signals, thereby enabling communication with a communications network or other devices. RF circuit 510 may include various existing circuit components for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor, an encryption / decryption chip, a subscriber identity module (SIM) card, memory, and the like. RF circuit 510 can communicate with various networks, such as the Internet, an intranet, or a wireless network, or with other devices via a wireless network. These wireless networks may include cellular telephone networks, wireless local area networks, or metropolitan area networks. The wireless networks may utilize various communication standards, protocols, and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as Institute of Electrical and Electronics Engineers standards IEEE 802.11a, IEEE 802.11b, IEEE802.11g, and / or IEEE802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging, and short messaging, and any other suitable communication protocols, including those currently undeveloped.

[0061] The memory 520 can be used to store software programs and modules, such as the program instructions / modules corresponding to the drone automatic spraying method in the above-mentioned embodiment. The processor 580 executes various functional applications to implement the above-mentioned drone automatic spraying method by running the dual-mode module and the program for controlling the dual-mode module stored in the internal flash memory of the memory 520. The program for controlling the dual-mode module can be an embedded program and stored in the internal flash memory of the memory 520.

[0062] The memory 520 may include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 520 may further include memory remotely located relative to the processor 580, and these remote memories may be connected to the drone spraying device 500 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0063] The input unit 530 can be used to receive uploaded digital or character information and generate keyboard, mouse, joystick, optical, or trackball input signals related to user settings and function control. Specifically, the input unit 530 may include a touch-sensitive surface 531 and other input devices 532. The touch-sensitive surface 531, also known as a touch display or touchpad, can detect user touch operations on or near it (for example, operations performed on or near the touch-sensitive surface 531 using a finger, stylus, or any other suitable object or accessory) and drive corresponding connected devices according to pre-set programs. Optionally, the touch-sensitive surface 531 may include a touch detection device and a touch controller. The touch detection device detects the user's touch position and detects signals generated by the touch operation, transmitting these signals to the touch controller. The touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then transmits them to the processor 580. The touch controller can also receive and execute commands from the processor 580. Furthermore, the touch-sensitive surface 531 can be implemented using various types of touch sensors, including resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch-sensitive surface 531, the input unit 530 may further include other input devices 532. Specifically, the other input devices 532 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, power keys, etc.), a trackball, a mouse, and a joystick.

[0064] The display unit 540 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the drone spraying device 500. These graphical user interfaces can be composed of graphics, text, icons, videos, or any combination thereof. The display unit 540 may include a display panel 541. Optionally, the display panel 541 can be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like. Furthermore, the touch-sensitive surface 531 can cover the display panel 541. When the touch-sensitive surface 531 detects a touch operation on or near it, it transmits the information to the processor 580 to determine the type of touch event. The processor 580 then provides a corresponding visual output on the display panel 541 based on the type of touch event. Although the touch-sensitive surface 531 and the display panel 541 are shown as two separate components to implement input and output functions, in some embodiments, the touch-sensitive surface 531 and the display panel 541 can be integrated to implement input and output functions.

[0065] The drone spraying device 500 may also include at least one sensor 550, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor may adjust the brightness of the display panel 541 according to the brightness of the ambient light, and the proximity sensor may generate an interrupt when the flip cover is closed or closed. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in all directions (generally three axes) and the magnitude and direction of gravity when stationary. It can be used for applications that recognize the posture of the mobile phone (such as switching between horizontal and vertical screens, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors that can be configured in the drone spraying device 500, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be described in detail here.

[0066] The audio circuit 560, speaker 561, and microphone 562 provide an audio interface between the user and the drone spraying device 500. The audio circuit 560 can convert received audio data into electrical signals and transmit them to the speaker 561, which then converts them into sound signals for output. Meanwhile, the microphone 562 converts collected sound signals into electrical signals, which are then received by the audio circuit 560 and converted into audio data. The audio data is then processed by the output processor 580 and transmitted to, for example, another terminal via the RF circuit 510, or the audio data is output to the memory 520 for further processing. The audio circuit 560 may also include an earphone jack to provide communication between an external headset and the drone spraying device 500.

[0067] The drone spraying device 500 uses a transmission module 570 (e.g., a Wi-Fi module) to help users receive requests, send information, and more, providing wireless broadband internet access. While the figure shows the transmission module 570, it is understood that it is not a required component of the drone spraying device 500 and can be omitted as needed without altering the essence of the invention.

[0068] The processor 580 is the control center of the drone spraying device 500. It connects the various components of the entire phone using various interfaces and circuits. By running or executing software programs and / or modules stored in the memory 520 and accessing data stored in the memory 520, it performs various functions of the drone spraying device 500 and processes data, thereby providing overall monitoring of the drone spraying device. Optionally, the processor 580 may include one or more processing cores. In some embodiments, the processor 580 may integrate an application processor and a modem processor, wherein the application processor primarily handles the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into the processor 580.

[0069] The drone spraying device 500 also includes a power supply 590 (e.g., a battery) for powering various components. In some embodiments, the power supply can be logically connected to the processor 580 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 590 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0070] Specifically in this embodiment, the display unit of the drone spraying equipment is a touch screen display, and the mobile terminal also includes a memory and one or more programs, one or more of which are stored in the memory and configured to be executed by one or more processors to implement any step of the drone automatic spraying method provided in the above embodiment.

[0071] During specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation of the above modules can be found in the previous method embodiments and will not be repeated here.

[0072] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be accomplished through instructions, or by controlling related hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium storing a plurality of instructions that, when executed by a processor, can implement any step in the drone automatic spraying method provided in the above embodiments.

[0073] The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the storage medium may be an internal flash memory, i.e., the embedded program for controlling the automatic spraying method of the drone may be stored in the internal flash memory.

[0074] Since the instructions stored in the storage medium can execute the steps in any embodiment of the drone automatic spraying method provided in the embodiments of the present application, the beneficial effects that can be achieved by any drone automatic spraying method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0075] The above is a detailed introduction to the UAV automatic spraying method, device, UAV spraying equipment and storage medium provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present application. Moreover, for those of ordinary skill in the art, without departing from the principles of the present application, several improvements and modifications can be made, and these improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A drone automatic spraying method, characterized in that: include: When it is detected that the spraying drone enters the spraying scene, a scene image captured by a camera set in the spraying scene is acquired; Identify and analyze the scene image to obtain a drone identifier contained in the scene image, and determine, based on the drone identifier, whether the drone corresponding to the drone identifier is entering the scene for the first time; When it is determined that the drone corresponding to the drone identifier is entering the site for the first time, obtaining size information and spraying requirements of the drone to be sprayed, wherein the spraying requirements include a spraying position; Determining a first spraying robot to perform spraying on the drone corresponding to the drone identifier, and determining a spraying path for the first spraying robot to perform spraying on the robot to be sprayed based on the size information and the spraying requirement; The spray gun of the first spraying robot is controlled to move for spraying according to the spraying path, so as to spray the unmanned aerial vehicle to be sprayed.

2. The method according to claim 1, wherein The identifying and analyzing the scene image to obtain the drone identifier contained in the scene image includes: Calculate the similarity between the scene image and each image in the drone image library, and use the identification information of the image corresponding to the highest similarity greater than a preset threshold as the drone identification of the drone to be sprayed; or Identify the drone feature information contained in the scene image, and analyze and process the drone feature information to obtain the drone identification of the drone to be sprayed; or The coding information contained in the scene image is identified, and the coding information is identified and processed to obtain the drone identification of the drone to be sprayed.

3. The method according to claim 1, wherein The determining, based on the drone identifier, whether the drone corresponding to the drone identifier is entering the venue for the first time includes: Obtain a pre-recorded list of recorded drones, and perform a search and match in the list of recorded drones according to the drone identifier; If the drone ID is in the recorded drone list, it is determined that this is not the first entry; If the drone identifier does not exist in the recorded drone list, it is determined to be the first entry.

4. The method according to claim 1, wherein When it is determined that the drone corresponding to the drone identifier is entering the site for the first time, obtaining the size information and spraying requirements of the drone to be sprayed includes: When it is determined that the drone corresponding to the drone identifier is entering the venue for the first time, a preset drone information list and drone spraying list are obtained; According to the drone identification, query and match are performed in the drone information list and the drone spraying list respectively to obtain the size information and spraying requirements of the drone to be sprayed.

5. The method according to claim 1, wherein The determining of a first spraying robot for spraying the drone corresponding to the drone identifier, and determining a spraying path for the first spraying robot to spray on the robot to be sprayed according to the size information and the spraying requirement, includes: Obtaining available spraying robots in the spraying scene, and screening the available spraying robots according to the size information to obtain a first robot set; Screening the first robot set according to the spraying requirement to obtain a first spraying robot for spraying the drone to be sprayed; A spraying pattern in the spraying requirement is obtained, and spraying planning is performed on the first spraying robot according to the spraying pattern to obtain a spraying path of the first spraying robot.

6. The method according to claim 3, wherein After determining whether the drone corresponding to the drone identifier is entering the venue for the first time based on the drone identifier, the method further includes: When it is determined that the drone corresponding to the drone identifier is not entering the site for the first time, a query is performed in the recorded drone list according to the drone identifier to obtain a control instruction of a second spraying robot used for spraying the drone to be sprayed; The control instruction is sent to the first spraying robot, so that the first spraying robot responds to the control instruction and performs spraying on the drone to be sprayed.

7. The method according to claim 6, wherein After controlling the first spraying robot to move according to the spraying path, the method further includes: When it is detected that the first spraying robot has completed spraying, recording a target control instruction for controlling the first spraying robot generated based on the spraying path; The target control instruction is associated with the drone identifier and stored in the recorded drone list.

8. An automatic spraying device for drones, characterized in that: include: An image acquisition module is used to acquire a scene image captured by a camera set in the spraying scene when it is detected that the spraying drone enters the spraying scene; an identification and processing module, configured to identify and analyze the scene image, obtain a drone identifier contained in the scene image, and determine, based on the drone identifier, whether the drone corresponding to the drone identifier is entering the scene for the first time; A first processing module is configured to obtain size information and spraying requirements of the drone to be sprayed when it is determined that the drone corresponding to the drone identifier enters the site for the first time, wherein the spraying requirements include a spraying position; A second processing module is used to determine a first spraying robot that sprays the drone corresponding to the drone identifier, and determine a spraying path for the first spraying robot to spray on the robot to be sprayed based on the size information and the spraying requirement; The regulating control module is used to control the spray gun of the first spraying robot to move for spraying according to the spraying path, so as to spray the UAV to be sprayed.

9. A UAV spraying equipment, characterized in that: The drone spraying equipment includes a processor, a memory, and a computer program or embedded program stored in the internal storage of the memory and capable of running on the processor. When the processor executes the computer program or embedded program, the steps in the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or an embedded program, and when the computer program or the embedded program is executed by a processor, the steps in the method according to any one of claims 1 to 7 are implemented.

Images