Load control method and device of movable platform, movable platform and medium

Abstract

A method for controlling a load 130 of a movable platform 100, comprising: automatically detecting a load attribute of the load 130 (S101); according to the load attribute, determining a corresponding control parameter (S102); and the control load 130 is used for feeding the materials according to the determined control parameters. According to the method, the operation accuracy and safety of the movable platform 100 can be improved, and the intelligent degree of the operation of the movable platform 100 is enhanced.

Description

Method and device for controlling load of movable platform, movable platform and medium Technical Field

[0001] The present application relates to the technical field of movable platforms, and in particular to a method and device for controlling a load of a movable platform, a movable platform, and a storage medium. Background Art

[0002] With the development of mobile platform technology, more and more users have begun to use mobile platforms for operations, especially using mobile platforms for plant protection operations such as pesticide spraying, fertilizer spraying, crop sowing or fertilizer sowing, which has the advantages of less damage to crops, high pesticide utilization rate and reduced labor intensity.

[0003] Different work scenarios are suitable for different work loads. Taking the spreading scenario as an example, at present, the movable platform generally uses a screw feeder-type spreading device to spread materials, but different screw feeder types need to be adapted to different work scenarios. The existing technology mainly relies on manual identification of the screw feeder type and manual replacement of the screw feeder used in the actual operation according to different work scenarios. However, manual work often leads to forgetfulness or operational errors, which can lead to serious work accidents. The accuracy and safety of the movable platform's operation cannot be guaranteed, the user experience is poor, and the level of intelligence is low.

[0004] Summary of the Invention

[0005] Based on this, the embodiments of the present application provide a method and device for controlling the load of a movable platform, a movable platform, and a storage medium, aiming to improve the operating accuracy and safety of the movable platform.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a load of a movable platform, comprising:

[0007] automatically detecting a load attribute of the load, wherein the load is used for delivering materials;

[0008] Determining corresponding control parameters based on the load attributes, wherein the control parameters are used to control the load to deliver the material, the load attributes include a first load attribute and a second load attribute, the first load attribute corresponds to a first control parameter, the second load attribute corresponds to a second control parameter, the first load attribute is different from the second load attribute, and the first control parameter is different from the second control parameter; and

[0009] The load is controlled and the material is delivered according to the determined control parameters.

[0010] The control method provided in the first aspect automatically detects the load properties of the load and determines the corresponding control parameters based on the load properties. The movable platform then controls the load and delivers materials according to the determined control parameters. There is no need for manual identification of the load properties of the load, thus avoiding the occurrence of operational accidents due to user forgetfulness or operational errors. This greatly improves the operational accuracy and safety of the movable platform and enhances the intelligence of the movable platform's operations.

[0011] In a second aspect, an embodiment of the present application further provides a method for controlling a load of a movable platform, comprising:

[0012] Get the material category of the material to be delivered;

[0013] automatically determining a target load attribute of the load according to the material category, wherein the load is used to deliver the material;

[0014] Determining a corresponding control parameter according to the target load attribute, wherein the target load attribute includes a first target load attribute and a second target load attribute, the first target load attribute corresponds to a first control parameter, the second target load attribute corresponds to a second control parameter, the first target load attribute is different from the second target load attribute, and the first control parameter is different from the second control parameter; and

[0015] The load is controlled and the material is delivered according to the determined control parameters.

[0016] The control method provided in the second aspect obtains the material category of the material to be delivered, and automatically determines the target load attributes of the load based on the material category. The movable platform then controls the load and delivers the material according to the control parameters corresponding to the target load attributes. There is no need for manual identification of the load attributes of the load, which can avoid the occurrence of operational accidents due to user forgetfulness or operational errors, greatly improves the operational accuracy and safety of the movable platform, and enhances the intelligence level of the movable platform operation.

[0017] In a third aspect, an embodiment of the present application further provides a control device for controlling the delivery of materials by a load on a movable platform, the control device comprising a memory and a processor; the memory is used to store a computer program;

[0018] The processor is configured to execute the computer program and implement the control method as described in the first aspect or the second aspect when executing the computer program.

[0019] In a fourth aspect, an embodiment of the present application further provides a movable platform, comprising:

[0020] The platform body is used to carry a load, and the load is used to deliver materials;

[0021] A power device, provided on the platform body, for providing moving power for the movable platform;

[0022] The control device is provided on the platform body and is used to implement the control method as described in the first aspect or the second aspect.

[0023] In a fifth aspect, an embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the control method as described in the first aspect or the second aspect.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a schematic structural diagram of a movable platform for implementing the control method provided in an embodiment of the present application;

[0027] FIG2 is a schematic flow chart of the steps of a method for controlling a load of a movable platform provided in an embodiment of the present application;

[0028] FIG3 is a schematic flow chart of the sub-steps of the control method in FIG2 ;

[0029] FIG4 is an exemplary diagram of arranging magnets on a screw conveyor according to an embodiment of the present application;

[0030] FIG5 is another exemplary diagram of arranging magnets on a screw conveyor according to an embodiment of the present application;

[0031] FIG6 is another exemplary diagram of arranging magnets on a screw conveyor according to an embodiment of the present application;

[0032] FIG7 is a schematic flow chart of the steps of another method for controlling a load of a movable platform provided in an embodiment of the present application;

[0033] FIG8 is a schematic flow chart of the steps of another method for controlling a load of a movable platform provided in an embodiment of the present application;

[0034] FIG9 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application;

[0035] FIG10 is a schematic block diagram of the structure of a movable platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] 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 part of the embodiments of this application, not all of them. 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.

[0037] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0038] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0039] At present, movable platforms generally use screw conveyor-type spreading devices for material spreading, but different screw conveyor types need to be adapted to different operating scenarios. The existing technology mainly relies on manual identification of the screw conveyor type and manual replacement of the screw conveyor used in the actual operation according to different operating scenarios. However, manual work often leads to forgetfulness or operational errors, which can lead to serious operational accidents, and cannot guarantee the accuracy and safety of the movable platform's operation. The user experience is poor and the level of intelligence is low.

[0040] To address the above-mentioned issues, embodiments of the present application provide a control method, device, mobile platform, and storage medium. This control method automatically detects the load attributes of a load and, based on these attributes, determines corresponding control parameters. The mobile platform then controls the load and delivers materials according to the determined control parameters. This eliminates the need for manual identification of the load attributes, avoids operational accidents caused by user forgetfulness or operational errors, and significantly improves the accuracy and safety of the mobile platform's operations, enhancing the intelligence of the mobile platform's operations.

[0041] Please refer to FIG1 , which is a schematic structural diagram of a movable platform for implementing the control method provided in an embodiment of the present application.

[0042] As shown in Figure 1, the movable platform 100 includes a platform body 110, a power system 120, a load 130 and a control system (not shown in Figure 1). The platform body 110 is used to carry a replaceable load 130, and the load 130 is used to deliver materials. The load 130 may include at least one of a spiral sowing mechanism, a spraying mechanism, a flow conveying mechanism and a logistics delivery mechanism. The materials may include various items that need to be delivered, which may be solid materials or liquid materials. Solid materials include at least one of solid fertilizers, solid feeds, pollen, seeds, solid pesticides, etc., and liquid materials include at least one of water, liquid fertilizers, liquid feeds, liquid pesticides, etc. The power system 120 is provided on the platform body 110 and is used to provide mobile power for the movable platform 100. The control device is used to control the movable platform 100.

[0043] In some embodiments, the power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the one or more propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121. The motors 122 and propellers 121 are disposed on the platform body 110 of the movable platform 100. The ESCs receive drive signals generated by the control system and, based on the drive signals, provide drive current to the motors 122 to control their rotational speed. The motors 122 drive the propellers 121, thereby providing power for the movement of the movable platform 100. This power enables the movable platform 100 to achieve one or more degrees of freedom. In some embodiments, the movable platform 100 can rotate about one or more rotational axes. For example, the rotational axes may include roll, yaw, and pitch. It should be understood that the motors 122 may be either DC or AC motors. Furthermore, the motors 122 may be either brushless or brushed motors.

[0044] In some embodiments, the control system includes a control device and a sensing system. The sensing system is used to measure the posture information of the movable platform 100, that is, the position information and state information of the movable platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The control device is used to control the movement of the movable platform 100. For example, the movement of the movable platform 100 may be controlled based on the posture information measured by the sensing system. It should be understood that the control device may control the movable platform 100 according to pre-programmed instructions.

[0045] In some embodiments, the movable platform 100 automatically detects the load properties of the load 130; determines corresponding control parameters based on the load properties, wherein the load properties include a first load property and a second load property, the first load property corresponds to a first control parameter, the second load property corresponds to a second control parameter, the first load property is different from the second load property, and the first control parameter is different from the second control parameter; controls the load 130 to deliver materials according to the determined control parameters. The embodiment of the present application automatically detects the load properties of the load 130 and determines corresponding control parameters based on the load properties, and then the movable platform 100 controls the load 130 to deliver materials according to the determined control parameters. There is no need to manually identify the load properties of the load 130, thus avoiding the occurrence of operational accidents due to user forgetfulness or operational errors, greatly improving the operational accuracy and safety of the movable platform 100, and enhancing the intelligence level of the movable platform 100 operation.

[0046] In some embodiments, the movable platform 100 obtains the material category of the material to be delivered; based on the material category, the target load attribute of the load 130 is automatically determined, wherein the target load attribute includes a first target load attribute and a second target load attribute different from the first target load attribute, and the first control parameter corresponding to the first target load attribute is different from the second control parameter corresponding to the second target load attribute; the load 130 is controlled to deliver the material according to the control parameter corresponding to the target load attribute. The embodiment of the present application automatically detects the material category of the material and automatically determines the target load attribute of the load 130 based on the material category, so that the movable platform 100 controls the load 130 to deliver the material based on the control parameters that match the target load attribute. There is no need to manually identify the load attribute of the load, thus avoiding the occurrence of operational accidents due to user forgetfulness or operational errors, improving the operational accuracy and safety of the movable platform 100, and enhancing the intelligence level of the operation of the movable platform 100.

[0047] Among them, the movable platform 100 may include aircraft and movable robots, etc. The aircraft may include unmanned aerial vehicles and manned aerial vehicles, etc. The unmanned aerial vehicles include rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, six-rotor unmanned aerial vehicles, and eight-rotor unmanned aerial vehicles, and may also be fixed-wing unmanned aerial vehicles, or a combination of rotor-type and fixed-wing unmanned aerial vehicles.

[0048] The control method provided in the embodiment of the present application will be described in detail below in conjunction with the movable platform in Figure 1. It should be noted that the movable platform in Figure 1 is only used to explain the control method provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method provided in the embodiment of the present application.

[0049] Please refer to Figure 2, which is a flowchart illustrating the steps of a method for controlling a load of a movable platform provided in an embodiment of the present application. This control method can be applied to a load 130 of a movable platform 100 to improve the accuracy and safety of the operation of the movable platform 100.

[0050] Specifically, as shown in FIG2 , the control method includes steps S101 to S103 .

[0051] Step S101: Automatically detect the load attributes of the load.

[0052] In this embodiment, a load may include at least one of one or more different types of loads, one or more different specifications of loads, a load with multiple different operating modes, and a load with multiple sub-loads. Load attributes may include at least one of load category, load specification, load operating mode, and load combination mode. A load operating mode refers to the mode of a single load operating, while a load combination mode refers to the mode formed by the combination of multiple loads operating in collaboration.

[0053] For example, a load may include a spiral spreader or a sprayer, which belong to different categories. Another example is a load including multiple screw conveyors of different specifications, each with a different screw pitch. For example, the load may include a first screw conveyor, a second screw conveyor, and a third screw conveyor, where the first screw conveyor has a larger pitch than the second screw conveyor, and the second screw conveyor has a larger pitch than the third screw conveyor.

[0054] For another example, the load includes a screw conveyor, and the pitch of the screw conveyor is variable. By changing the pitch of the screw conveyor, a variety of working modes of the screw conveyor can be obtained, and the pitch of the screw conveyor in the various working modes is different. For example, the screw conveyor includes a first working mode, a second working mode and a third working mode. The pitch of the screw conveyor in the first working mode is greater than the pitch of the screw conveyor in the second working mode, and the pitch of the screw conveyor in the second working mode is greater than the pitch of the screw conveyor in the third working mode.

[0055] For another example, the load includes a screw conveyor, and the screw conveyor includes multiple sub-screw conveyors, each of which belongs to a section of the screw conveyor, and the pitches of the multiple sub-screw conveyors are different. For example, the screw conveyor includes a first sub-screw conveyor, a second sub-screw conveyor, and a third sub-screw conveyor, and the pitch of the first sub-screw conveyor is greater than the pitch of the second sub-screw conveyor, and the pitch of the second sub-screw conveyor is greater than the pitch of the third sub-screw conveyor. Automatic detection of the load attributes of the load, in some embodiments, can be automatic detection of different load attributes of the same type of load, for example, automatic detection of whether the screw conveyor is the first screw conveyor with a larger pitch or the second screw conveyor with a smaller pitch. In other embodiments, it can also be automatic detection of the load attributes of different types of loads, for example, automatic detection of whether the load is a screw conveyor, a spraying mechanism, a logistics delivery mechanism, or a logistics transportation mechanism.

[0056] In some embodiments, the load properties of the load are automatically detected in response to detecting that the load is properly installed on the movable platform or in response to detecting a power-on signal from the movable platform. The detection of whether the load is properly installed on the movable platform can be performed using a sensor such as an infrared sensor, a contact sensor, or a weight sensor. This embodiment automatically detects the load properties of the load upon detecting that the load is properly installed or a power-on signal from the movable platform is detected, eliminating the need for waiting. This allows for timely detection of the load properties, facilitating subsequent control of the load for material delivery based on control parameters that match the load properties.

[0057] In some embodiments, as shown in FIG3 , step S101 includes: sub-steps S1011 to S1012 .

[0058] Sub-step S1011: acquiring sensing parameters determined by the sensing signal sensed by the sensing device.

[0059] In this embodiment, the sensing parameter may include at least one of the following: sensing trigger time, sensing trigger frequency, and sensing signal strength. The sensing trigger time may be the interval between triggering the sensing device, such as the time interval between two triggerings of the sensing device. The sensing trigger frequency may be the frequency at which the sensing device is triggered, such as the sensing device being triggered five times per second. The sensing signal strength may be the strength of the signal sensed by the sensing device. It is understood that the sensing parameter may also include other parameters, which are not specifically limited in this embodiment of the present invention. For example, the sensing parameter may also include the number of sensing trigger turns, which may be the number of turns between triggering the sensing device.

[0060] In some embodiments, the load of the movable platform is provided with at least some of the components of the sensing device. For example, at least one of the multiple sensors included in the sensing device is provided on the load, or all of the multiple sensors included in the sensing device are provided on the load. By providing at least some of the components of the sensing device on the load, this embodiment can reduce the space occupied by the sensing device on the load and reduce the structural complexity of the load.

[0061] In some embodiments, the load of the movable platform includes a detection cavity and a material cavity electromagnetically isolated from the detection cavity, and at least some components of the sensing device are disposed in the detection cavity. This embodiment, by disposing at least some components of the sensing device within the detection cavity isolated from the material cavity, prevents electromagnetic interference from the material in the material cavity on at least some components of the sensing device, thereby improving the sensing accuracy of the sensing device.

[0062] In some embodiments, the sensing device includes a first sensor and a second sensor, the first sensor and the second sensor being arranged in a pair. The first sensor and the second sensor may both be arranged on the load, or the first sensor may be arranged on the load and the second sensor may be arranged on a portion of the movable platform other than the load, or the second sensor may be arranged on the load and the first sensor may be arranged on a portion of the movable platform other than the load.

[0063] In some embodiments, the second sensor rotates with the rotation of the load, while the first sensor does not. Alternatively, the second sensor is located at a rotating portion of the load, while the first sensor is located at a non-rotating portion of the load or at a portion of the movable platform other than the load. In this embodiment, by configuring the second sensor to rotate with the rotation of the load and configuring the first sensor to not rotate with the rotation of the load, relative rotation between the first and second sensors can be achieved, facilitating subsequent determination of the load properties using sensing parameters determined by the relative rotation between the first and second sensors.

[0064] In some embodiments, the first sensor includes a magnetic sensor for sensing magnetic signals, such as a Hall effect sensor, and the second sensor includes a magnetic element for generating magnetic signals, such as a magnet. The magnetic element can be positioned on the load, and the magnetic sensor can be positioned on a portion of the movable platform other than the load. This embodiment utilizes a combination of a magnetic sensor and a magnetic element to detect load properties, which offers the advantages of low cost and ease of expansion.

[0065] In some embodiments, the load of the movable platform includes a screw conveyor, and the number of first sensors and / or second sensors installed on the screw conveyor is negatively correlated with the screw conveyor's pitch. Specifically, the smaller the screw conveyor's pitch, the greater the number of first sensors and / or second sensors installed on the screw conveyor, while the larger the screw conveyor's pitch, the fewer the number of first sensors and / or second sensors installed on the screw conveyor. This embodiment, by installing different numbers of first sensors and / or second sensors on screw conveyors of different pitches, facilitates identification of screw conveyors of different pitches based on different sensed parameters.

[0066] For example, the number of magnets installed on a screw conveyor is negatively correlated with the screw conveyor's pitch. That is, the larger the screw conveyor's pitch, the fewer magnets are installed, and the smaller the screw conveyor's pitch, the more magnets are installed. As shown in FIG4 , the pitch of the first screw conveyor 10 is greater than the pitch of the second screw conveyor 20 , and the first screw conveyor 10 is equipped with one magnet 111, while the second screw conveyor 20 is equipped with two magnets 111.

[0067] In some embodiments, multiple first sensors and / or second sensors are arranged at intervals along the circumference of the screw conveyor. The spacing between adjacent sensors on screw conveyors with different pitches varies. This embodiment provides multiple first sensors and / or second sensors at varying spacings on screw conveyors with different pitches, thereby facilitating identification of screw conveyors with different pitches based on different sensing parameters.

[0068] For example, the spacing between adjacent magnets on screw conveyors with different pitches is different. As shown in FIG5 , the pitch of the second screw conveyor 20 is different from the pitch of the third screw conveyor 30, and the pitch of the second screw conveyor 20 is greater than the pitch of the third screw conveyor 30. The spacing between the two magnets 111 on the second screw conveyor 20 is half a circumference, while the spacing between the two magnets 111 on the third screw conveyor 30 is 1 / 4 or 3 / 4 of a circumference. In other words, the spacing between the two magnets 111 on the second screw conveyor 20 is different from the spacing between the two magnets 111 on the third screw conveyor 30.

[0069] In some embodiments, the first and / or second sensors of the magnets provided on the screw conveyor are negatively correlated with the screw conveyor's pitch. Multiple first and / or second sensors provided on the screw conveyor are spaced apart along the screw conveyor's circumference, and the spacing between adjacent first and / or second sensors on screw conveyors of different pitches is different. This embodiment, by providing different numbers of first and / or second sensors on screw conveyors of different pitches and by providing multiple first and / or second sensors at different spacings, facilitates identification of screw conveyors of different pitches based on different sensed parameters.

[0070] In some embodiments, the distance between the first sensor and the second sensor varies with the rotation of the screw conveyor. When the screw conveyor is at a target position, the screw conveyor can prevent material from leaking out, and the distance between the first sensor and the second sensor is at its shortest. This embodiment, by providing the first sensor and / or the second sensor on the screw conveyor, enables the screw conveyor to prevent material from leaking out when the screw conveyor is at its target position, and the distance between the first sensor and the second sensor is at its shortest. Thus, the sensing parameters determined by the signals sensed by the sensing device can accurately control the screw conveyor to stop at the target position, enabling the screw conveyor to prevent material from leaking out, effectively avoiding leakage problems caused by the screw conveyor's inherent structure.

[0071] For example, a screw conveyor with a larger pitch has a larger gap with the outer shell, which is prone to leakage. To avoid leakage, a baffle structure is provided at the end of the screw conveyor, a magnet is provided on the screw conveyor, and a Hall sensor is provided at a position outside the screw conveyor. When the screw conveyor is in the target position, the screw conveyor can prevent the leakage of materials, and the distance between the magnet and the Hall sensor is the shortest. In this way, the sensing parameters determined by the magnetic signal sensed by the Hall sensor can accurately control the screw conveyor to stop at the target position, so that the screw conveyor can prevent the leakage of materials, effectively avoiding the leakage problem caused by the screw conveyor's own structure.

[0072] In some embodiments, in response to a stop rotation instruction of a screw conveyor, if the pitch of the screw conveyor is greater than a preset pitch, the screw conveyor is controlled to stop rotating when the sensing parameter determined by the sensing signal of the sensing device meets the preset parameter condition, wherein after the screw conveyor stops rotating, the screw conveyor is at the target position, and the preset parameter condition includes at least one of the following: a preset sensing trigger time, a preset sensing trigger frequency, a preset sensing signal strength, and a preset number of sensing trigger turns. It is understandable that the preset sensing trigger time, the preset sensing trigger frequency, the preset sensing signal strength, and the preset number of sensing trigger turns can be set based on actual conditions, and the embodiments of the present application do not specifically limit this. For example, the preset number of sensing trigger turns is 1.

[0073] In some embodiments, the load includes a screw conveyor, and obtaining the sensing parameters determined by the signal sensed by the sensing device may include: in response to detecting that the load is installed in place on the movable platform or in response to detecting the power-on signal of the movable platform, controlling the screw conveyor to rotate according to a preset speed; each time the number of revolutions of the screw conveyor reaches the preset number of revolutions, obtaining the sensing parameters determined by the signal sensed by the sensing device. The preset speed and the preset number of revolutions can be set based on actual conditions, and the embodiments of the present application do not specifically limit this. This embodiment controls the screw conveyor to rotate according to a preset speed when detecting that the load is installed in place or the power-on signal of the movable platform is detected, and each time the number of revolutions of the screw conveyor reaches the preset number of revolutions, obtaining the sensing parameters determined by the signal sensed by the sensing device, thereby ensuring the accuracy of the sensing parameters.

[0074] Sub-step S1012: determining the load attributes of the load according to the sensing parameters.

[0075] This embodiment arranges at least some components of the sensing device on the load, so that the movable platform can accurately determine the load properties of the load based on the sensing parameters determined by the signal sensed by the sensing device. In this way, the movable platform can control the load to deliver materials based on the control parameters matching the load properties. There is no need for manual identification of the load properties of the load, avoiding the occurrence of operational accidents due to user forgetfulness or operational errors, greatly improving the operational accuracy and safety of the movable platform, and enhancing the intelligence level of the movable platform operation.

[0076] In some embodiments, determining the load attributes of the load based on sensing parameters determined from signals sensed by the sensing device may include determining the load attributes of the load based on the sensing parameters determined from the signals sensed by the sensing device and a preset mapping relationship between the sensing parameters and the load attributes. This embodiment can accurately and quickly determine the load attributes of the load based on the mapping relationship between the sensing parameters and the load attributes and the sensing parameters determined from the signals sensed by the sensing device.

[0077] In some embodiments, the mapping relationship between the preset sensing parameters and the load attributes is pre-established based on the number and / or position of at least some components of the sensing device provided on the load. For example, as shown in FIG6 , the pitch of the first screw conveyor 10 is greater than the pitch of the second screw conveyor 20, the pitch of the second screw conveyor 20 is greater than the pitch of the third screw conveyor 30, the first screw conveyor 10 is provided with a magnet 111, the second screw conveyor 20 is provided with two magnets 111, and the spacing between the two magnets 111 is 1 / 4 of a circumference or 3 / 4 of a circumference, and the third screw conveyor 30 is provided with two magnets 111, and the spacing between the two magnets 111 is 1 / 2 of a circumference. Based on the above situation, a mapping relationship between the number of induction triggering turns of the Hall sensor and the specifications of the screw conveyor can be established. The mapping relationship can be shown in Table 1 below.

[0078] Table 1

[0079] The upper and lower limit errors refer to the number of error circles that can be tolerated based on the expected number of induction triggering circles. For example, if the number of induction triggering circles is in the range of 0.15 to 0.35, it can be determined that the screw conveyor installed on the movable platform is the third screw conveyor. If the number of induction triggering circles is in the range of 0.4 to 0.6, it can be determined that the screw conveyor installed on the movable platform is the second screw conveyor. And if the number of induction triggering circles is in the range of 0.9 to 1.1, it can be determined that the screw conveyor installed on the movable platform is the first screw conveyor. It is understood that the upper and lower limit errors in Table 1 can be set based on actual conditions, and this embodiment of the application does not specifically limit this.

[0080] In some embodiments, if the load attributes corresponding to the sensing parameters determined by the sensing signal sensed by the sensing device are not found according to the preset mapping relationship between sensing parameters and load attributes, a preset alarm message is output or the process returns to step S101 to automatically detect the load attributes of the load. The preset alarm message serves to inform the user that the load installed on the mobile platform cannot be identified and requires the user to check whether the installed load is correct. This embodiment, by outputting an alarm message when the load attributes cannot be automatically detected, facilitates the user to promptly check whether the installed load is correct, thereby improving the user experience.

[0081] In some embodiments, the load includes a radio frequency tag, and automatically detecting the load attributes of the load may include: determining the load attributes of the load based on the radio frequency tag. The radio frequency tag is used to store the load attributes of the load. In this embodiment, a radio frequency tag storing the load attributes is provided on the load, so that the movable platform can quickly and conveniently identify the load attributes of the load based on the radio frequency tag, and the radio frequency tag is low in cost and easy to expand. Radio frequency tag detection has certain application limitations, and its detection accuracy is easily affected by signal interference from built-in electrical components of the movable platform.

[0082] Step S102: Determine corresponding control parameters according to load attributes.

[0083] In this embodiment, the control parameters are used to control the load for material delivery. The determined load attributes may include a first load attribute and a second load attribute different from the first load attribute. The first control parameter corresponding to the first load attribute is different from the second control parameter corresponding to the second load attribute. The first load attribute may include at least one of the load category, load specification, load working form, and load combination form, and the second load attribute may include at least one of the load category, load specification, load working form, and load combination form. For example, the first load attribute is a screw conveyor, and the second load attribute includes at least one of the screw conveyor's specifications, working form, and combination form.

[0084] In some embodiments, the load includes a material conveying mechanism, and the control parameters include at least one of a conveying control parameter and a first motion control parameter of the movable platform. The first motion control parameter may include motion speed, motion acceleration, motion height, etc. The load includes a material delivery mechanism, and the control parameters include at least one of a delivery control parameter and a second motion control parameter of the movable platform. The second motion control parameter may include motion speed, motion acceleration, motion height, etc.

[0085] In some embodiments, the load includes a screw conveyor, and the control parameters include spreading control parameters and / or third motion control parameters of the movable platform. The spreading control parameters may include minimum speed, maximum speed, feed flow rate, and discharge flow rate. The third motion control parameters of the movable platform are related to the spreading amplitude, and may include, for example, the movement speed and movement altitude of the movable platform. For example, if the movable platform is an agricultural drone, the first motion control parameters include a first flight altitude and a first flight speed of the agricultural drone. When controlling the screw conveyor and spreading the material according to the determined control parameters, the agricultural drone flies at the first flight altitude and the first flight speed.

[0086] In some embodiments, the load includes a spraying mechanism, and the control parameters include spraying control parameters and / or fourth motion control parameters of the movable platform. The spraying control parameters may include spraying particle size, spraying flow rate, spraying flow rate, spraying rotation speed, etc. The fourth motion control parameter of the movable platform is related to the spraying amplitude and spraying pressure. For example, in the case where the movable platform is an agricultural drone, the second motion control parameters include the agricultural drone's second flight altitude and second flight speed. When controlling the spraying mechanism and spraying materials according to the determined control parameters, the agricultural drone flies at the second flight altitude and second flight speed.

[0087] In some embodiments, the load includes a logistics conveying mechanism and / or a logistics delivery mechanism, and the control parameters include at least one of a conveying speed, a conveying flow, a delivery speed, and a delivery flow.

[0088] In some embodiments, determining corresponding control parameters based on load attributes may include automatically configuring the corresponding control parameters based on the load attributes and a preset mapping relationship between the load attributes and the control parameters. This embodiment automatically configures control parameters that match the load attributes of the load through a preset mapping relationship between the load attributes and the control parameters, greatly improving the accuracy and efficiency of control parameter configuration.

[0089] It is understood that the mapping relationship between load attributes and control parameters is pre-set according to actual conditions, and the present application embodiment does not specifically limit this. For example, the mapping relationship between the specifications of the screw conveyor and the control parameters can be shown in Table 2 below.

[0090] Table 2

[0091] Among them, the pitch of the first screw conveyor is greater than the pitch of the second screw conveyor, and the pitch of the second screw conveyor is greater than the pitch of the third screw conveyor. The sowing control parameters in Table 2 are the speed ranges of the screw conveyors.

[0092] In some embodiments, determining corresponding control parameters based on load attributes may include: obtaining a material category of the material; and automatically configuring corresponding control parameters based on the load attributes, the material category, and a preset mapping relationship between the load attributes, the material category, and the control parameters. This embodiment automatically configures control parameters that match the load attributes of the load and the material category of the material through a preset mapping relationship between the load attributes, the material category, and the control parameters, so that the configured control parameters better meet the requirements of the load and the material, greatly improving the accuracy and efficiency of control parameter configuration.

[0093] It is understood that the mapping relationship between load attributes, material categories, and control parameters is pre-set based on actual conditions and is not specifically limited in this embodiment of the present application. For example, the mapping relationship between screw conveyor specifications, material categories, and control parameters can be shown in Table 3 below. The spreading control parameters in Table 3 represent the speed range of the screw conveyor.

[0094] Table 3

[0095] In some embodiments, after step S102, the further step includes: outputting parameter configuration prompt information corresponding to the control parameter, wherein the parameter configuration prompt information is used to prompt the user to configure the control parameter, or automatically configure the control parameter. This embodiment, by prompting the user to configure the control parameter or automatically configuring the control parameter after determining the control parameter, enables the mobile platform to control the load to deliver materials based on the control parameter matching the load attributes, eliminating the need for manual identification of the load attributes, avoiding operational accidents caused by user forgetfulness or operational errors, and greatly improving the operational accuracy and safety of the mobile platform.

[0096] Step S103: Control the load and deliver the material according to the determined control parameters.

[0097] The embodiment of the present application automatically detects the load properties of the load and determines the corresponding control parameters based on the load properties. The movable platform then controls the load and delivers materials according to the determined control parameters. There is no need for manual identification of the load properties of the load, thus avoiding the occurrence of operational accidents due to user forgetfulness or operational errors, and greatly improving the operational accuracy and safety of the movable platform.

[0098] In some embodiments, controlling the load and delivering materials according to determined control parameters may include at least one of the following: adjusting the power parameters of the movable platform to achieve the determined control parameters; adjusting the power parameters of the load to achieve the determined control parameters; adjusting the shape of the load to achieve the determined control parameters; or replacing the accessories of the load to achieve the determined control parameters. The power parameters of the movable platform may include the moving speed and acceleration of the movable platform. If the movable platform is an aircraft, the power parameters may include the flight speed and altitude of the aircraft. The power parameters of the load may include the rotational speed and moving speed of the load.

[0099] For example, the determined control parameters include the feed flow and sowing amplitude of the screw conveyor. Taking the movable platform as an agricultural drone as an example, the sowing amplitude is related to the flight altitude and flight speed of the agricultural drone, and the feed flow of the screw conveyor is related to the rotation speed of the screw conveyor. If the performance of the screw conveyor installed on the agricultural drone can achieve the determined feed flow, the agricultural drone controls the screw conveyor to rotate at a rotation speed corresponding to the determined feed flow, so that the feed flow of the screw conveyor can reach the determined feed flow, and the agricultural drone flies at a flight altitude and flight speed corresponding to the determined sowing amplitude, so that the sowing amplitude of the screw conveyor can reach the determined sowing amplitude.

[0100] For another example, if the performance of the screw conveyor installed on the agricultural drone cannot reach the determined feed flow rate, the agricultural drone will replace the installed screw conveyor with a screw conveyor whose performance can reach the determined feed flow rate, and after replacing the screw conveyor, control the screw conveyor to rotate at a rotation speed corresponding to the determined feed flow rate, so that the feed flow rate of the screw conveyor can reach the determined feed flow rate.

[0101] For another example, if the performance of the current form of the screw conveyor installed on the agricultural drone cannot achieve a certain feed flow rate, the agricultural drone can adjust the form of the installed screw conveyor to a target form that can achieve the determined feed flow rate, and after adjusting the form, control the screw conveyor to rotate at a rotation speed corresponding to the determined feed flow rate, so that the feed flow rate of the screw conveyor can reach the determined feed flow rate.

[0102] Please refer to FIG. 7 , which is a schematic flow chart of the steps of another method for controlling a load of a movable platform provided in an embodiment of the present application.

[0103] Specifically, as shown in FIG7 , the control method includes steps S201 to S204 .

[0104] Step S201: Obtain the material category of the material.

[0105] In this embodiment, the material categories may include urea, compound fertilizer, solid herbicide, rice, rapeseed, grass seeds, wheat, corn or soybean, etc.

[0106] In some embodiments, the material category of a material is automatically acquired in response to detecting that a load is properly installed on the movable platform or in response to detecting a power-on signal from the movable platform. Whether the load is properly installed on the movable platform can be detected using a sensor such as an infrared sensor, a contact sensor, or a weight sensor. This embodiment automatically acquires the material category of a material upon detecting that the load is properly installed or the movable platform is powered on, eliminating the need for waiting. This allows for timely detection of the material category, facilitating subsequent determination of the load's properties based on the material category.

[0107] In some embodiments, obtaining the material category of an item may include: obtaining a target image containing the item; and determining the material category of the item based on semantic information of the target image. This embodiment can automatically and accurately identify the material category of the item using the semantic information of the target image containing the item. Alternatively, the material category of the item manually input by the user may be obtained.

[0108] In some embodiments, determining the material category of a material based on the semantic information of a target image may include: performing material category identification on the target image through a preset material category identification model to obtain the material category of the material, wherein the material category identification model is obtained by pre-training a preset neural network model based on multiple training samples, and the training samples include sample images and material categories.

[0109] Step S202: Automatically obtain target load attributes of the load according to the material category.

[0110] In this embodiment, the target load attribute may include at least one of a load category, a load specification, a load operating mode, and a load combination mode. The load category refers to the type of load. For example, a load may include a spiral spreading mechanism or a spraying mechanism, which belong to different categories. The load specification refers to the size or pitch of the load. The load operating mode refers to the mode of a single load in operation. The load combination mode refers to the mode of multiple loads combined when multiple loads work in coordination.

[0111] In some embodiments, automatically obtaining the target load attributes of the load based on the material category may include automatically obtaining the target load attributes of the load based on the material category and a preset mapping relationship between the material category and the load attributes. Specifically, the target load attributes of the load may be automatically determined based on the material category and the preset mapping relationship between the material category and the load attributes when no load is mounted on the movable platform. This embodiment utilizes the mapping relationship between the material category and the load attributes and the identified material category to quickly and accurately determine the target load attributes of the load.

[0112] It is understood that the mapping relationship between the preset material category and the target load attribute can be set based on the actual situation, and the embodiment of the present application does not specifically limit this. For example, the mapping relationship between the material category and the screw conveyor specifications can be shown in Table 4 below.

[0113] Table 4

[0114] The pitch of the first screw conveyor is greater than the pitch of the second screw conveyor, and the pitch of the second screw conveyor is greater than the pitch of the third screw conveyor.

[0115] In some embodiments, automatically obtaining a target load attribute of a load based on the material category may include at least one of the following: selecting at least one load that matches the material category from a plurality of different loads as the target load attribute; selecting at least one sub-load that matches the material category from a plurality of different sub-loads contained in the load as the target load attribute; selecting at least one load working form that matches the material category from a plurality of different load working forms contained in the load as the target load attribute; and configuring a load combination formed by different collaboration modes between multiple loads based on the material category as the target load attribute. The collaboration mode between multiple loads may include multiple loads delivering materials in parallel or multiple loads delivering materials in series.

[0116] Taking a screw conveyor as an example, in some embodiments, the screw pitch of the screw conveyor is variable. For example, in some cases, the screw conveyor shaft or housing may have retractable paddles that are sometimes retracted, resulting in a larger pitch, and sometimes extended, resulting in a smaller pitch. In other embodiments, the variable working configuration may be caused by variables such as variable blade size, variable blade mounting angle, and variable shaft size. As long as the configuration can adapt to different operating scenarios and / or different materials being delivered, it falls within the scope of the load working configuration of this application and is not limited here.

[0117] For example, the load includes a first screw conveyor, a second screw conveyor, and a third screw conveyor. The pitch of the first screw conveyor is greater than the pitch of the second screw conveyor, and the pitch of the second screw conveyor is greater than the pitch of the third screw conveyor. If the material to be sown is rapeseed, then according to the mapping relationship between material categories and screw conveyor specifications described in Table 4, the third screw conveyor that matches rapeseed is selected as the target load attribute.

[0118] For another example, the load includes a first sub-screw conveyor, a second sub-screw conveyor, and a third sub-screw conveyor, and the pitch of the first sub-screw conveyor is greater than the pitch of the second sub-screw conveyor, and the pitch of the second sub-screw conveyor is greater than the pitch of the third sub-screw conveyor. If the material to be spread is rice, then according to the mapping relationship between material categories and screw conveyor specifications described in Table 5, the first sub-screw conveyor and the second sub-screw conveyor that match rice are selected as the target load attributes.

[0119] Table 5

[0120] For another example, the load includes a screw conveyor, which includes a first working mode, a second working mode, and a third working mode. The pitch of the screw conveyor in the first working mode is greater than the pitch of the screw conveyor in the second working mode, and the pitch of the screw conveyor in the second working mode is greater than the pitch of the screw conveyor in the third working mode. If the material to be spread is urea, then according to the mapping relationship between the material category and the working mode of the screw conveyor described in Table 6, the first working mode that matches urea is selected as the target load attribute.

[0121] Table 6

[0122] In some embodiments, after step S202, the process further includes: if the mobile platform does not have a load installed, outputting a first message, wherein the first message is used to prompt the user to install a load with target load attributes. Alternatively, if the mobile platform does not have a load installed, outputting a first instruction, wherein the first instruction is used to instruct the mobile platform to automatically install a load with target load attributes. This embodiment prompts the user to install a load with target load attributes or automatically installs a load with target load attributes when the mobile platform does not have a load installed, so that the load attributes of the installed load can meet the requirements of the material category, avoids the use of a load that does not meet the requirements of the material category for material delivery, and improves the operational safety of the mobile platform.

[0123] For example, the loads that can be installed on the movable platform include the first screw conveyor, the second screw conveyor and the third screw conveyor, and the pitch of the first screw conveyor is greater than the pitch of the second screw conveyor, and the pitch of the second screw conveyor is greater than the pitch of the third screw conveyor. For example, if the target load attribute includes the first screw conveyor, if the movable platform is not installed with a load, the user can be prompted to install the first screw conveyor or the first screw conveyor can be automatically installed. For another example, if the target load attribute includes the second screw conveyor, if the movable platform is not installed with a load, the user can be prompted to manually install the second screw conveyor or the movable platform can automatically install the second screw conveyor.

[0124] In some embodiments, after step S202, the method further includes: if the current load attribute of the load installed on the mobile platform is not the target load attribute, outputting a second information, wherein the second information is used to prompt the user to change the load. Alternatively, if the current load attribute of the load installed on the mobile platform is not the target load attribute, outputting a second instruction, wherein the second instruction is used to instruct the mobile platform to automatically switch to a load with the target load attribute. This embodiment prompts the user to change the load or automatically switch to a load with the target load attribute when the current load attribute of the load installed on the mobile platform is different from the target load attribute, so that the load attribute of the replaced or switched load can meet the requirements of the material category, avoids the use of a load that does not meet the requirements of the material category for material delivery, and improves the operational safety of the mobile platform.

[0125] For example, the loads that can be installed on the movable platform include the first screw conveyor, the second screw conveyor and the third screw conveyor, and the pitch of the first screw conveyor is greater than the pitch of the second screw conveyor, and the pitch of the second screw conveyor is greater than the pitch of the third screw conveyor. For example, if the load already installed on the movable platform is the first screw conveyor, and the target load attribute includes the third screw conveyor, the user can be prompted to replace the first screw conveyor currently installed on the movable platform with the third screw conveyor.

[0126] For another example, the screw conveyor installed on the movable platform includes a first working form, a second working form and a third working form, and the installed screw conveyor is currently in the first working form, and the target load attribute is the second working form of the screw conveyor. At this time, the movable platform can automatically switch the working form of the screw conveyor from the first working form to the second working form, or prompt the user to manually switch the working form of the screw conveyor from the first working form to the second working form.

[0127] For another example, the movable platform has installed a first sub-screw conveyor, a second sub-screw conveyor and a third sub-screw conveyor, and the installed screw conveyor is currently using the second sub-screw conveyor, while the target load attribute includes the third sub-screw conveyor. At this time, the movable platform can automatically switch the second sub-screw conveyor to the third sub-screw conveyor, or prompt the user to manually switch the second sub-screw conveyor to the third sub-screw conveyor.

[0128] Step S203: Determine corresponding control parameters according to target load attributes.

[0129] In this embodiment, the target load attribute includes a first target load attribute and a second target load attribute different from the first target load attribute. The first control parameter corresponding to the first target load attribute is different from the second control parameter corresponding to the second target load attribute. The first target load attribute may include at least one of the following: load category, load specification, load operating mode, and load combination mode. The second target load attribute may include at least one of the following: load category, load specification, load operating mode, and load combination mode. For example, if the first target load attribute is a screw conveyor, the second target load attribute may include at least one of the following: screw conveyor specification, operating mode, and combination mode.

[0130] In some embodiments, determining corresponding control parameters based on target load attributes may include automatically configuring the corresponding control parameters based on the target load attributes and a preset mapping relationship between the load attributes and the control parameters. This embodiment automatically configures control parameters that match the target load attributes of the load through a preset mapping relationship between the load attributes and the control parameters, significantly improving the accuracy and efficiency of control parameter configuration.

[0131] Step S204: Control the load and deliver the material according to the determined control parameters.

[0132] This embodiment obtains the material category of the material and automatically determines the target load attributes of the load based on the material category. Then, based on the target load attributes, the corresponding control parameters are determined. The movable platform controls the load and delivers the material according to the determined control parameters. There is no need for manual identification of the load attributes of the load, which can avoid the occurrence of operational accidents due to user forgetfulness or operational errors, and greatly improves the operational accuracy and safety of the movable platform.

[0133] In some embodiments, controlling the load and delivering materials according to determined control parameters may include at least one of the following: adjusting the power parameters of the movable platform to achieve the determined control parameters; adjusting the power parameters of the load to achieve the determined control parameters; adjusting the shape of the load to achieve the determined control parameters; or replacing the accessories of the load to achieve the determined control parameters. The power parameters of the movable platform may include the moving speed and acceleration of the movable platform. If the movable platform is an aircraft, the power parameters may include the flight speed and altitude of the aircraft. The power parameters of the load may include the rotational speed and moving speed of the load.

[0134] Please refer to FIG8 , which is a schematic flow chart of the steps of another method for controlling a load of a movable platform provided in an embodiment of the present application.

[0135] Specifically, as shown in FIG8 , the control method includes steps S301 to S303 .

[0136] Step S301: Obtain the material category of the material to be delivered.

[0137] For example, the material types of the materials to be delivered may include urea, compound fertilizer, solid herbicide, rice, rapeseed, grass seeds, wheat, corn or soybean, etc.

[0138] In some embodiments, the material category of the material to be delivered is automatically acquired in response to detecting that the load is properly installed on the movable platform or in response to detecting a power-on signal from the movable platform. The detection of whether the load is properly installed on the movable platform can be performed using a sensor such as an infrared sensor, a contact sensor, or a weight sensor. This embodiment automatically acquires the material category of the material to be delivered upon detecting that the load is properly installed or the movable platform is powered on, eliminating the need for waiting. This allows for timely detection of the material category, facilitating subsequent determination of the load attributes based on the material category.

[0139] In some embodiments, obtaining the material category of the material to be delivered may include: obtaining a target image containing the material to be delivered; and determining the material category of the material to be delivered based on semantic information of the target image. This embodiment can automatically and accurately identify the material category of the material to be delivered by using the semantic information of the target image containing the material. Of course, the material category of the material manually input by the user can also be obtained. In some embodiments, the material category of the material in the material box can be identified in real time by adding a camera to the material box or reusing the camera on the movable platform.

[0140] In some embodiments, determining the material category of the material to be delivered based on the semantic information of the target image may include: performing material category identification on the target image through a preset material category identification model to obtain the material category of the material to be delivered, and the material category identification model is obtained by pre-training a preset neural network model based on multiple training samples, and the training samples include sample images and material categories.

[0141] Step S302: Automatically determine the target load attribute of the load according to the material category.

[0142] In this embodiment, the load is used to deliver materials, the target load attributes include a first target load attribute and a second target load attribute different from the first target load attribute, and the first control parameter corresponding to the first target load attribute is different from the second control parameter corresponding to the second target load attribute.

[0143] In some embodiments, automatically determining the target load attributes of the load based on the material category may include automatically determining the target load attributes of the load based on the material category and a preset mapping relationship between the material category and the load attributes. The target load attributes of the load may be automatically determined based on the material category and the preset mapping relationship between the material category and the load attributes when no load is installed on the movable platform. This embodiment utilizes the mapping relationship between the material category and the load attributes and the identified material category to quickly and accurately determine the target load attributes of the load.

[0144] In some embodiments, the target load attribute of the load is automatically determined based on the material category, including at least one of the following methods: taking at least one of the multiple different loads that matches the material category as the target load attribute; selecting at least one sub-load that matches the material category from the multiple different sub-loads contained in the load as the target load attribute; selecting at least one load working form that matches the material category from the multiple different load working forms contained in the load as the target load attribute; according to the material category, configuring a load combination formed by the collaboration mode between different multiple loads as the target load attribute.

[0145] In some embodiments, after step S302, the process further includes: if the movable platform does not have a load installed, outputting a first message, wherein the first message is used to prompt the user to install a load with target load attributes. Alternatively, if the movable platform does not have a load installed, outputting a first instruction, wherein the first instruction is used to instruct the movable platform to automatically install a load with target load attributes. This embodiment prompts the user to install a load with target load attributes or automatically installs a load with target load attributes when the movable platform does not have a load installed, so that the load attributes of the installed load can meet the requirements of the material category, thereby avoiding the use of a load that does not meet the requirements of the material category for material delivery, and improving the operational safety of the movable platform.

[0146] In some embodiments, after step S302, the method further includes: if the current load attribute of the load installed on the movable platform is not the target load attribute, outputting a second information, wherein the second information is used to prompt the user to change the load. Alternatively, if the current load attribute of the load installed on the movable platform is not the target load attribute, outputting a second instruction, wherein the second instruction is used to instruct the movable platform to automatically switch to a load with the target load attribute. This embodiment prompts the user to change the load or automatically switch to a load with the target load attribute when the current load attribute of the load installed on the movable platform is different from the target load attribute, so that the load attribute of the replaced or switched load can meet the requirements of the material category, avoids the use of a load that does not meet the requirements of the material category for material delivery, and improves the operational safety of the movable platform.

[0147] Step S303: Control the load and deliver the material according to the control parameters corresponding to the target load attributes.

[0148] The embodiment of the present application obtains the material category of the material to be delivered, and automatically determines the target load attributes of the load based on the material category. The movable platform then controls the load to deliver the material based on control parameters that match the target load attributes. Manual identification of the load attributes of the load is not required, which can avoid operational accidents caused by user forgetfulness or operational errors, greatly improving the operational accuracy and safety of the movable platform.

[0149] In some embodiments, controlling the load and delivering materials according to control parameters corresponding to the target load attributes may include at least one of the following: adjusting the power parameters of the movable platform to achieve the control parameters corresponding to the target load attributes; adjusting the power parameters of the load to achieve the control parameters corresponding to the target load attributes; adjusting the shape of the load to achieve the control parameters corresponding to the target load attributes; replacing the accessories of the load to achieve the control parameters corresponding to the target load attributes.

[0150] For example, the control parameters corresponding to the target load attributes include the feed flow and spreading width of the screw conveyor. Taking the movable platform as an agricultural drone as an example, the spreading width is related to the flight altitude and flight speed of the agricultural drone, and the feed flow of the screw conveyor is related to the rotation speed of the screw conveyor. If the performance of the screw conveyor installed on the agricultural drone can achieve the feed flow corresponding to the target load attribute, the agricultural drone controls the screw conveyor to rotate at a rotation speed matched by the feed flow corresponding to the target load attribute, so that the feed flow of the screw conveyor can reach the feed flow corresponding to the target load attribute, and the agricultural drone flies at a flight altitude and flight speed matched by the spreading width corresponding to the target load attribute, so that the spreading width of the screw conveyor can reach the spreading width corresponding to the determined target load attribute.

[0151] For another example, if the performance of the screw conveyor installed on the agricultural drone cannot reach the feed flow rate corresponding to the target load attribute, the agricultural drone will replace the installed screw conveyor with a screw conveyor whose performance can reach the feed flow rate corresponding to the target load attribute, and after replacing the screw conveyor, control the screw conveyor to rotate at a rotation speed matched with the feed flow rate corresponding to the target load attribute, so that the feed flow rate of the screw conveyor can reach the feed flow rate corresponding to the determined target load attribute.

[0152] For another example, if the performance of the current form of the screw conveyor installed on the agricultural drone cannot achieve the feed flow rate corresponding to the target load attribute, the agricultural drone can adjust the form of the installed screw conveyor to a target form that can achieve the feed flow rate corresponding to the target load attribute, and after adjusting the form, control the screw conveyor to rotate at a rotation speed matched with the feed flow rate corresponding to the target load attribute, so that the feed flow rate of the screw conveyor can reach the feed flow rate corresponding to the target load attribute.

[0153] Please refer to FIG9 , which is a schematic block diagram of the structure of a control device provided in an embodiment of the present application.

[0154] As shown in Figure 9, the control device 140 includes a processor 141 and a memory 142, which are connected via a bus 143, such as an I2C (Inter-Integrated Circuit) bus. The control device 140 is used to control the load delivery of materials on the movable platform.

[0155] Specifically, the processor 141 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0156] Specifically, the memory 142 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0157] The processor 141 is configured to run the computer program stored in the memory 142 and implement the following steps when executing the computer program:

[0158] automatically detecting a load attribute of the load, wherein the load is used for delivering materials;

[0159] Determining corresponding control parameters based on the load attributes, wherein the control parameters are used to control the load to deliver the material, the load attributes include a first load attribute and a second load attribute, the first load attribute corresponds to a first control parameter, the second load attribute corresponds to a second control parameter, the first load attribute is different from the second load attribute, and the first control parameter is different from the second control parameter; and

[0160] The load is controlled and the material is delivered according to the determined control parameters.

[0161] In some embodiments, the load is provided with at least some components of a sensing device, and when the processor 141 implements the automatic detection of the load attributes of the load, it is configured to implement:

[0162] The load attribute of the load is determined by using the sensing parameters determined by the signal sensed by the sensing device.

[0163] In some embodiments, the load includes a detection cavity and a material cavity electromagnetically isolated from the detection cavity, and at least some components of the sensing device are disposed in the detection cavity.

[0164] In some embodiments, the processor 141 is configured to implement, when determining the load attribute of the load using the sensing parameters obtained from the signal sensed by the sensing device, the following:

[0165] The load attributes of the load are determined according to the sensing parameters and a preset mapping relationship between the sensing parameters and the load attributes.

[0166] In some embodiments, the processor is further configured to implement:

[0167] In the case that the load attribute corresponding to the sensing parameter is not found according to the mapping relationship, a preset alarm message is output or the process returns to the step of automatically detecting the load attribute of the load.

[0168] In some embodiments, the sensing parameter includes at least one of the following: sensing trigger time, sensing trigger frequency, and intensity of the sensing signal.

[0169] In some embodiments, the sensing device includes a first sensor and a second sensor, and the first sensor and the second sensor are arranged in pair.

[0170] In some embodiments, the second inductor rotates with the rotation of the load, and the first inductor does not rotate with the rotation of the load.

[0171] In some embodiments, the second sensor is disposed at a rotating portion of the load, and the first sensor is disposed at a non-rotating portion of the load or at a portion of the movable platform other than the load.

[0172] In some embodiments, the load comprises a screw conveyor.

[0173] In some embodiments, the number of the first sensors and / or the second sensors disposed on the screw conveyor is negatively correlated with the pitch of the screw conveyor.

[0174] In some embodiments, a plurality of the first sensors and / or the second sensors provided on the screw conveyor are spaced apart along the circumferential direction of the screw conveyor.

[0175] In some embodiments, the distance between the first sensor and the second sensor changes with the rotation of the screw conveyor. When the screw conveyor is at a target position, the screw conveyor can prevent leakage of materials, and the distance between the first sensor and the second sensor is the shortest.

[0176] In some embodiments, the load includes a radio frequency tag, and when the processor 141 automatically detects the load attributes of the load, it is configured to:

[0177] Determine the load attribute of the load according to the radio frequency tag.

[0178] In some embodiments, when the processor 141 determines the corresponding control parameters according to the load attributes, it is configured to implement:

[0179] According to the load attributes and the preset mapping relationship between the load attributes and the control parameters, the corresponding control parameters are automatically configured.

[0180] In some embodiments, after determining the corresponding control parameter according to the load attribute, the processor 141 is further configured to implement any of the following:

[0181] Outputting parameter configuration prompt information corresponding to the control parameter, wherein the parameter configuration prompt information is used to prompt a user to configure the control parameter;

[0182] The control parameters are automatically configured.

[0183] In some embodiments, when the processor 141 implements the delivery of the material according to the control parameters, it is configured to implement at least one of the following:

[0184] adjusting the power parameters of the movable platform to achieve the determined control parameters;

[0185] Adjusting the dynamic parameters of the load to achieve the determined control parameters;

[0186] Adjusting the shape of the load to achieve the determined control parameter;

[0187] Replace the accessories of the load to achieve the determined control parameters.

[0188] In some embodiments, the processor is further configured to implement:

[0189] Get the material category of the material;

[0190] Automatically obtain target load attributes of the load according to the material category;

[0191] According to the target load attribute, the corresponding control parameter is determined, wherein the target load attribute includes a first target load attribute and a second target load attribute different from the first target load attribute, and the first control parameter corresponding to the first target load attribute is different from the second control parameter corresponding to the second target load attribute.

[0192] In some embodiments, when the processor 141 automatically obtains the target load attribute of the load according to the material category, it is used to implement:

[0193] The target load attribute of the load is automatically obtained according to the material category and the preset mapping relationship between the material category and the load attribute.

[0194] In some embodiments, when the processor 141 automatically obtains the target load attribute of the load according to the material category, it is configured to implement at least one of the following:

[0195] Selecting at least one load matching the material category from a plurality of different loads as the target load attribute;

[0196] Selecting at least one sub-load that matches the material category from a plurality of different sub-loads included in the load as the target load attribute;

[0197] selecting at least one load working form that matches the material category from a plurality of different load working forms included in the load as the target load attribute;

[0198] According to the material category, a load combination formed by configuring different collaboration modes between the multiple loads is used as the target load attribute.

[0199] In some embodiments, when the processor 141 obtains the material category of the material, it is configured to:

[0200] Acquire a target image containing the material;

[0201] The material category of the material is determined according to the semantic information of the target image.

[0202] In some embodiments, the load attribute includes at least one of the following: load category, load specification, and load working mode.

[0203] In some embodiments, the load includes a material conveying mechanism, and the control parameter includes at least one of a conveying control parameter and a first motion control parameter of the movable platform.

[0204] In some embodiments, the load includes a material delivery mechanism, and the control parameter includes at least one of a delivery control parameter and a second motion control parameter of the movable platform.

[0205] In some embodiments, when the processor 141 automatically detects the load attributes of the load, it is configured to implement:

[0206] In response to detecting that the load is mounted in place on the movable platform or in response to detecting a power-on signal of the movable platform, the load property of the load is automatically detected.

[0207] In some other embodiments, the processor 141 is configured to run a computer program stored in the memory 142 and implement the following steps when executing the computer program:

[0208] Get the material category of the material to be delivered;

[0209] Automatically determining a target load attribute of the load based on the material category, wherein the load is used to deliver the material, the target load attribute includes a first target load attribute and a second target load attribute, the first target load attribute corresponds to a first control parameter, the second target load attribute corresponds to a second control parameter, the first target load attribute is different from the second target load attribute, and the first control parameter is different from the second control parameter; and

[0210] The load is controlled to deliver the material according to control parameters corresponding to the target load attributes.

[0211] In some embodiments, after the step of automatically determining the target load attribute of the load, the processor 141 is further configured to implement any one of the following:

[0212] If the movable platform is not equipped with the load, outputting first information, wherein the first information is used to prompt the user to install the load having the target load attributes;

[0213] If the movable platform is not equipped with the load, a first instruction is output, wherein the first instruction is used to automatically install the load having the target load attribute.

[0214] In some embodiments, after the step of automatically determining the target load attribute of the load, the processor 141 is further configured to implement any one of the following:

[0215] If the current load attribute of the load installed on the movable platform is not the target load attribute, outputting second information, wherein the second information is used to prompt the user to replace the load;

[0216] If the current load attribute of the load installed on the movable platform is not the target load attribute, a second instruction is output, wherein the second instruction is used to automatically switch to the load having the target load attribute.

[0217] In some embodiments, when the processor 141 automatically determines the target load attribute of the load based on the material category, it is used to implement:

[0218] The target load attribute of the load is automatically determined according to the material category and the preset mapping relationship between the material category and the load attribute.

[0219] In some embodiments, when the processor 141 automatically determines the target load attribute of the load based on the material category, it is configured to implement at least one of the following methods:

[0220] taking at least one of the multiple different loads that matches the material category as the target load attribute;

[0221] Selecting at least one sub-load that matches the material category from a plurality of different sub-loads included in the load as the target load attribute;

[0222] selecting at least one load working form that matches the material category from a plurality of different load working forms included in the load as the target load attribute;

[0223] According to the material category, a load combination formed by configuring different collaboration modes between the multiple loads is used as the target load attribute.

[0224] In some embodiments, the processor 141 controls the load and delivers the material according to the control parameters corresponding to the target load attributes to achieve at least one of the following:

[0225] adjusting dynamic parameters of the movable platform to achieve control parameters corresponding to the target load attributes;

[0226] adjusting the dynamic parameters of the load to achieve control parameters corresponding to the target load attributes;

[0227] Adjusting the shape of the load to achieve control parameters corresponding to the target load attributes;

[0228] The accessories of the load are replaced to achieve control parameters corresponding to the target load attributes.

[0229] In some embodiments, when the processor 141 obtains the material category of the material, it is configured to:

[0230] Acquire a target image containing the material;

[0231] The material category of the material is determined according to the semantic information of the target image.

[0232] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device described above can refer to the corresponding process in the aforementioned embodiment of the control method for the load of the movable platform, and will not be repeated here.

[0233] Please refer to FIG10 , which is a schematic block diagram of the structure of a movable platform provided in an embodiment of the present application.

[0234] As shown in Figure 10, the movable platform 100 includes a platform body 110, a power unit 120, and a control unit 140. The platform body 110 is used to carry a load 130, the power unit 120 is provided on the platform body 110, and is used to provide the movable platform 100 with moving power, and the control unit 140 is provided on the platform body 100, and is used to control the movable platform 100.

[0235] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the movable platform described above can refer to the corresponding process in the aforementioned embodiment of the control method for the load of the movable platform, and will not be repeated here.

[0236] An embodiment of the present application also provides a storage medium for computer-readable storage, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method for controlling the load of the movable platform provided in the above embodiment.

[0237] The storage medium may be an internal storage unit of the control device or mobile platform described in any of the aforementioned embodiments, such as a hard disk or memory of the control device or mobile platform. The storage medium may also be an external storage device of the control device or mobile platform, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the control device or mobile platform.

[0238] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0239] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0240] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for the load of a movable platform, characterized in that, the method includes: automatically detecting the load attributes of the load, where the load is used for delivering materials; determining corresponding control parameters according to the load attributes, where the control parameters are used to control the load to perform the delivery of the materials, the load attributes include a first load attribute and a second load attribute, the first load attribute corresponds to a first control parameter, the second load attribute corresponds to a second control parameter, the first load attribute is different from the second load attribute, and the first control parameter is different from the second control parameter; and controlling the load to perform the delivery of the materials according to the determined control parameters.

2. The control method according to claim 1, characterized in that, at least part of the components of the sensing device are provided on the load, and the automatically detecting the load attributes of the load includes: determining the load attributes of the load according to the sensing parameters determined by the signals sensed by the sensing device.

3. The control method according to claim 2, characterized in that, the load includes a detection chamber and a material chamber that is electromagnetically isolated from the detection chamber, and at least part of the components of the sensing device are provided in the detection chamber.

4. The control method according to claim 2, characterized in that, the determining the load attributes of the load according to the sensing parameters obtained from the signals sensed by the sensing device includes: determining the load attributes of the load according to the sensing parameters and the preset mapping relationship between the sensing parameters and the load attributes.

5. The control method according to claim 4, characterized in that, the method further includes: in the case where the load attributes corresponding to the sensing parameters cannot be queried according to the mapping relationship, outputting a preset warning message or returning to execute the step of automatically detecting the load attributes of the load.

6. The control method according to claim 4, characterized in that, the sensing parameters include at least one of the following: sensing trigger time, sensing trigger frequency, and intensity of the sensing signal.

7. The control method according to claim 2, characterized in that, the sensing device includes a first sensor and a second sensor, and the first sensor and the second sensor are arranged in pairs.

8. The control method according to claim 7, characterized in that, the second sensor rotates with the rotation of the load, and the first sensor does not rotate with the rotation of the load.

9. The control method according to claim 8, characterized in that, the second sensor is arranged at the rotating part of the load, and the first sensor is arranged at the non-rotating part of the load or at a part of the movable platform other than the load.

10. The control method according to claim 7, characterized in that, the load includes a screw conveyor.

11. The control method according to claim 10, characterized in that, the number of the first sensor and / or the second sensor provided on the screw conveyor is negatively correlated with the pitch size of the screw conveyor.

12. The control method according to claim 10, wherein, a plurality of the first sensors and / or the second sensors disposed on the screw conveyor are arranged at intervals along the circumferential direction of the screw conveyor.

13. The control method according to claim 10, wherein, the distance between the first sensor and the second sensor changes with the rotation of the screw conveyor, and when the screw conveyor is in the target position, the screw conveyor can block the leakage of the material, and the distance between the first sensor and the second sensor is the shortest.

14. The control method according to claim 1, wherein, the load includes a radio frequency tag, and the automatically detecting the load attributes of the load includes: determining the load attributes of the load according to the radio frequency tag.

15. The control method according to claim 1, wherein, the determining the corresponding control parameters according to the load attributes includes: automatically configuring the corresponding control parameters according to the load attributes and the mapping relationship between the preset load attributes and the control parameters.

16. The control method according to claim 1, wherein, after the determining the corresponding control parameters according to the load attributes, any one of the following is further included: outputting a parameter configuration prompt message corresponding to the control parameters, where the parameter configuration prompt message is used to prompt the user to configure the control parameters; automatically configuring the control parameters.

17. The control method according to claim 1, wherein, the delivering the material according to the control parameters includes at least one of the following: adjusting the power parameters of the movable platform to reach the determined control parameters; adjusting the power parameters of the load to reach the determined control parameters; adjusting the form of the load to reach the determined control parameters; replacing the accessories of the load to reach the determined control parameters.

18. The control method according to any one of claims 1-17, wherein, the automatically detecting the load attributes of the load includes: acquiring the material category of the material; automatically acquiring the target load attributes of the load according to the material category; the determining the corresponding control parameters according to the load attributes includes: determining the corresponding control parameters according to the target load attributes.

19. The control method according to claim 18, wherein, the automatically acquiring the target load attributes of the load according to the material category includes: automatically acquiring the target load attributes of the load according to the material category and the mapping relationship between the preset material categories and the load attributes.

20. The control method according to claim 18, wherein, the automatically acquiring the target load attributes of the load according to the material category includes at least one of the following: selecting at least one of the loads that matches the material category from a plurality of different loads as the target load attributes; Select at least one of the different sub - loads included in the load that matches the material category as the target load attribute; Select at least one of the different load working forms included in the load that matches the material category as the target load attribute; Configure a load combination formed by the cooperation methods between multiple different loads according to the material category as the target load attribute.

21. The control method according to claim 18, wherein, the obtaining of the material category of the material includes: obtain a target image containing the material; determine the material category of the material according to the semantic information of the target image.

22. The control method according to any one of claims 1 - 17, wherein, the load attribute includes at least one of the following: load category, load specification, load working form.

23. The control method according to any one of claims 1 - 17, wherein, the load includes a material conveying mechanism, and the control parameters include at least one of a conveying control parameter and a first motion control parameter of the movable platform.

24. The control method according to any one of claims 1 - 17, wherein, the load includes a material discharging mechanism, and the control parameters include at least one of a discharging control parameter and a second motion control parameter of the movable platform.

25. The control method according to any one of claims 1 - 17, wherein, the automatically detecting the load attribute of the load includes: in response to detecting that the load is installed in place on the movable platform or in response to detecting the power - on signal of the movable platform, automatically detect the load attribute of the load.

26. A control method for a load of a movable platform, wherein, the method includes: obtain the material category of the material to be delivered; automatically determine the target load attribute of the load according to the material category, wherein the load is used to deliver the material, the target load attribute includes a first target load attribute and a second target load attribute, the first target load attribute corresponds to a first control parameter, the second target load attribute corresponds to a second control parameter, the first target load attribute is different from the second target load attribute, and the first control parameter and the second control parameter are different; and control the load to deliver the material according to the control parameter corresponding to the target load attribute.

27. The control method according to claim 26, wherein, after the step of automatically determining the target load attribute of the load, the method further includes any one of the following: if the load is not installed on the movable platform, output a first piece of information, wherein the first piece of information is used to prompt the user to install the load with the target load attribute; if the load is not installed on the movable platform, output a first instruction, wherein the first instruction is used to automatically install the load with the target load attribute.

28. The control method according to claim 26, ​ It is characterized in that After the step of automatically determining the target load attribute of the load, the method further includes any one of the following: If the current load attribute of the load installed on the movable platform is not the target load attribute, outputting second information, wherein the second information is used to prompt the user to replace the load; If the current load attribute of the load installed on the movable platform is not the target load attribute, a second instruction is output, wherein the second instruction is used to automatically switch to the load having the target load attribute.

29. The control method according to claim 26, It is characterized in that The step of automatically determining the target load attribute of the load according to the material category includes: The target load attribute of the load is automatically determined according to the material category and the mapping relationship between the preset material category and the load attribute.

30. The control method according to claim 26, It is characterized in that The automatically determining the target load attribute of the load according to the material category includes at least one of the following methods: taking at least one of the multiple different loads that matches the material category as the target load attribute; Select at least one sub-load that matches the material category from a plurality of different sub-loads included in the load. One of the sub-loads is used as the target load attribute; Selecting at least one load working form that matches the material category from a plurality of different load working forms included in the load as the target load attribute; According to the material category, a load combination formed by configuring different cooperation modes between the multiple loads is used as the target load attribute.

31. The control method according to claim 26, It is characterized in that The controlling the load to deliver the material according to the control parameters corresponding to the target load attribute includes at least one of the following: adjusting a dynamic parameter of the movable platform to achieve a control parameter corresponding to the target load attribute; adjusting a dynamic parameter of the load to achieve a control parameter corresponding to the target load attribute; Adjusting the shape of the load to achieve control parameters corresponding to the target load attributes; The accessories of the load are replaced to achieve control parameters corresponding to the target load attributes.

32. The control method according to any one of claims 26 to 31, It is characterized in that The obtaining of the material category of the material includes: Acquire a target image containing the material; The material category of the material is determined according to the semantic information of the target image.

33. The control method according to any one of claims 26 to 31, It is characterized in that The load includes a material conveying mechanism, and the control parameter includes at least one of a conveying control parameter and a first motion control parameter of the movable platform.

34. The control method according to any one of claims 26 to 31, It is characterized in that The load includes a material delivery mechanism, and the control parameter includes at least one of a delivery control parameter and a second motion control parameter of the movable platform.

35. A control device for controlling a load of a movable platform to deliver materials, characterized in that, the control device includes a memory and a processor; the memory is used for storing a computer program; the processor is used for executing the computer program and when executing the computer program, implementing the control method according to any one of claims 1-34.

36. A movable platform, characterized in that, it includes: a platform body for carrying a load, and the load is used for delivering materials; a power device provided on the platform body for providing moving power for the movable platform; a control device provided on the platform body for implementing the control method according to any one of claims 1-34.

37. A storage medium for computer-readable storage, characterized in that, the storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the control method according to any one of claims 1-34.

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