Plant protection unmanned aerial vehicle emptying operation method and device, electronic equipment and storage medium
By automatically planning various flight path types for emptying operations after the drone has completed its autonomous operation, the problem of pesticide residue after drone operation has been solved, realizing automatic emptying of drones and environmental protection.
Patent Information
- Application Number
- CN202510567172.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2026-11-06
AI Technical Summary
Existing drone operation systems cannot automatically empty the remaining liquid in the tank after the operation is completed, resulting in environmental pollution and the cumbersome manual emptying operation.
After the drone completes its autonomous operation, it automatically performs the emptying operation, ensuring the liquid is emptied by planning various route types (return route, edge sweeping route, and boundary shrinkage route) to avoid human intervention.
It achieves zero residual pesticide after drone operations, avoiding environmental pollution and manual operation, and adapting to diverse user needs.
Smart Images
Figure CN123047579A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a method, apparatus, electronic device, and storage medium for aerial spraying operations using a plant protection UAV. Background Technology
[0002] With the widespread application of drone technology in agriculture, drones have become an important tool in modern agricultural operations, especially in pesticide spraying and fertilization. In known drone operation processes, the low-pesticide return-to-home emptying function is designed so that when the pesticide solution in the drone's tank falls below a certain threshold (e.g., below 500mL), the drone automatically returns to home and empties the remaining pesticide solution, ensuring that the tank is completely emptied before landing.
[0003] The known emptying function for returning to base when low on medication has certain limitations. It is only triggered when the medication level is below a set threshold, and cannot cover scenarios where there is a slightly higher amount of medication remaining in the tank after the operation is completed. For example, after the drone completes its mission, there may still be a certain amount of medication remaining in the tank, but because the remaining amount of medication does not meet the trigger condition for returning to base when low on medication, the system will not automatically perform the emptying operation.
[0004] However, in practical applications, users do not want drones to return to the tank or feed bin with remaining materials after completing their operations. On the one hand, residual pesticides and other materials cannot be dumped on the ground indiscriminately to avoid environmental pollution or damage to crops; on the other hand, manually emptying the remaining materials is cumbersome, increasing operational costs and time consumption. Therefore, the existing return-to-home emptying function for low-pesticide operations is insufficient to meet users' needs for emptying remaining materials after drone operations. Summary of the Invention
[0005] In view of this, the purpose of the present invention is to provide a method, device, electronic device and storage medium for emptying agricultural drones, so as to realize the automatic emptying of remaining materials after the completion of agricultural drone operations.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:
[0007] In a first aspect, the present invention provides a method for aerial spraying operations using agricultural drones, the method comprising:
[0008] Acquire autonomous operation parameters and autonomous operation routes;
[0009] Based on the autonomous operation parameters and the autonomous operation route, the agricultural drone is controlled to perform autonomous operation tasks.
[0010] After the agricultural drone completes its autonomous operation, the system controls the agricultural drone to perform an emptying operation to discharge any remaining material from the agricultural drone until there is no material left or almost no material left.
[0011] In an optional implementation, before controlling the agricultural drone to perform the air-purifying operation, the method further includes:
[0012] Obtain the drainage operation route and drainage operation parameters;
[0013] A drainage operation task is generated based on the drainage operation parameters and the drainage operation route.
[0014] In an optional implementation, obtaining the drainage operation route includes:
[0015] Determine the target route type for the drainage operation, and plan the drainage operation route according to the target route type. The target route type includes one or more of the following: return route, edge sweeping route, and boundary shrinkage route.
[0016] In an optional implementation, obtaining the drainage operation route includes:
[0017] The return route is planned with the end point of the autonomous operation route as the starting point and the return point as the ending point.
[0018] The return route was determined as the drainage operation route.
[0019] In an optional implementation, obtaining the drainage operation route includes:
[0020] Starting from the end point of the autonomous operation route, a sweeping route is planned to fly along the boundary of the land parcel, and the sweeping route is determined as the drainage operation route.
[0021] In an optional implementation, the planned sweeping flight path along the land parcel boundary includes:
[0022] The target boundary segment is determined from multiple boundary segments of the land parcel, and a sweeping route passing through the target boundary segment is planned.
[0023] In an optional implementation, obtaining the drainage operation route includes:
[0024] Multiple gradient shrinkages are applied to the boundary of the land parcel to obtain multiple candidate shrinkage routes.
[0025] The boundary narrowing route is determined based on multiple candidate narrowing routes.
[0026] The inner boundary route is designated as the drainage operation route.
[0027] In an optional implementation, determining the boundary narrowing route based on the plurality of candidate narrowing routes includes:
[0028] Select one or more consecutive segments from the multiple candidate narrowing routes as the boundary narrowing route.
[0029] In an optional implementation, determining the boundary narrowing route based on the plurality of candidate narrowing routes includes:
[0030] Select one or more consecutive segments from each of the aforementioned narrowing routes as the initial boundary narrowing route;
[0031] Based on the user's editing operations on the initial boundary shrinkage route, the boundary shrinkage route is obtained.
[0032] In an optional implementation, obtaining the drainage operation route and drainage operation parameters includes:
[0033] After the agricultural drone completes its autonomous operation, the air purging operation settings interface is displayed.
[0034] Based on the parameter settings performed by the user in the evacuation operation settings interface, obtain the evacuation operation parameters; and / or, based on the route settings performed by the user in the evacuation operation settings interface, obtain the evacuation operation route.
[0035] In an optional implementation, the method further includes:
[0036] After the evacuation task is generated, the estimated evacuation result corresponding to the evacuation task is displayed.
[0037] In an optional implementation, the estimated venting result includes the estimated venting volume. Before displaying the estimated venting result corresponding to the venting operation task, the method further includes:
[0038] The estimated venting volume corresponding to the venting operation task is calculated based on the venting operation parameters, the venting operation route, the preset route spacing, and the remaining material quantity.
[0039] In an optional implementation, the method further includes:
[0040] The estimated drainage results are updated in real time based on the drainage operation parameters and / or drainage operation routes adjusted by the user.
[0041] In an optional implementation, the step of controlling the agricultural drone to perform an air-purifying operation after the agricultural drone completes the autonomous operation task includes:
[0042] After the agricultural drone completes the autonomous operation task, a drainage operation task is generated, and the agricultural drone is controlled to execute the drainage operation task.
[0043] In an optional implementation, the method further includes:
[0044] After the agricultural drone completes the autonomous operation task, it is controlled to hover at the end of the autonomous operation route and wait for the generation of the drainage operation task.
[0045] In an optional implementation, the step of controlling the agricultural drone to perform an air-purifying operation after the agricultural drone completes the autonomous operation task includes:
[0046] After the agricultural drone completes the autonomous operation task, and the operation completion and emptying function is in the activated state, control the agricultural drone to perform the emptying operation task.
[0047] In a second aspect, the present invention provides a device for aerial spraying operations of agricultural drones, the device comprising:
[0048] The data acquisition module is used to acquire autonomous operation parameters and autonomous operation routes;
[0049] The processing module is used to control the agricultural drone to perform autonomous operation tasks according to the autonomous operation parameters and the autonomous operation route; after the agricultural drone completes the autonomous operation task, it controls the agricultural drone to perform a discharge operation task to discharge the remaining material of the agricultural drone until there is no residue or almost no residue.
[0050] Thirdly, the present invention provides an electronic device including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the agricultural drone air-purification operation method as described in any of the foregoing embodiments.
[0051] Fourthly, the present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the agricultural drone air-purifying operation method as described in any of the foregoing embodiments.
[0052] This invention provides a method, apparatus, electronic device, and storage medium for emptying agricultural drones. The method includes: acquiring autonomous operation parameters and an autonomous operation route; controlling the agricultural drone to perform an autonomous operation task based on the autonomous operation parameters and the autonomous operation route; and controlling the agricultural drone to perform an emptying operation task after the agricultural drone completes the autonomous operation task, so as to discharge the remaining material from the agricultural drone until there is no residue or nearly no residue. This method does not rely on the remaining material reaching a set threshold to trigger emptying, but can discharge the remaining material after the agricultural drone completes the autonomous operation task until there is no residue or nearly no residue. This ensures that there is no remaining material after the agricultural drone returns from the operation, avoiding the tedious operation of manual emptying, and effectively preventing environmental pollution or crop damage that may be caused by remaining material.
[0053] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0054] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0055] Figure 1 This invention provides a schematic flowchart of a method for aerial spraying operations using agricultural drones.
[0056] Figure 2 A schematic diagram of the switch control for the emptying function upon completion of the operation is shown;
[0057] Figure 3 This diagram illustrates several candidate narrowing routes obtained after applying multiple gradients to the boundary of the land parcel.
[0058] Figure 4 A schematic diagram of the boundary narrowing route determined from the candidate narrowing routes is shown.
[0059] Figure 5 A schematic diagram of the autonomous operation interface when an agricultural drone performs autonomous operation tasks is shown.
[0060] Figure 6 The diagram shows the air-drainage operation settings interface, which automatically enters the air-drainage operation process after the agricultural drone completes its autonomous operation task.
[0061] Figure 7 A schematic diagram of the parameter setting interface for setting the parameters of the evacuation operation is shown;
[0062] Figure 8 This diagram shows the route settings interface for setting route types.
[0063] Figure 9 A schematic diagram showing the edge sweeping settings control in the drain operation settings interface is shown;
[0064] Figure 10 A schematic diagram of the edge sweeping settings interface is shown;
[0065] Figure 11 A schematic diagram showing the control for editing flight paths in the air purging operation settings interface is provided.
[0066] Figure 12 A schematic diagram of the user's route editing interface is shown;
[0067] Figure 13 This diagram illustrates a functional block diagram of an agricultural drone aerial spraying device provided in an embodiment of the present invention.
[0068] Figure 14 A block diagram of an electronic device provided in an embodiment of the present invention is shown.
[0069] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 210 - Data acquisition module; 220 - Processing module; 201 - Switch control; 301 - Plot boundary; 302 - Candidate narrowing flight path; 401 - Boundary narrowing flight path; 601 - Parameter setting control; 602 - Flight path setting control; 701 - Spray volume control; 702 - Atomized particle size control; 703 - Return altitude control; 704 - Return speed control; 901 - Edge sweeping setting control; 1101 - Edit flight path control. Detailed Implementation
[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0071] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0072] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0073] In known technologies, a "low-pesticide return and emptying" function has been introduced to address the issue of residual pesticide in the tank when a drone returns to base due to low pesticide levels. The basic process of this function is as follows: the user activates the "low-pesticide return and emptying" function; during operation, the drone detects a low pesticide level and triggers a return to base; during the return process, the system automatically activates the spraying function to empty the remaining pesticide in the tank, ensuring that there is no residue in the tank when the drone lands.
[0074] The aforementioned emptying function for pesticides that requires a return-to-home system has certain limitations. First, it is only triggered when the remaining pesticide level is below a preset threshold. If there is a slightly higher pesticide level in the tank upon completion of the operation, the function will not be triggered. Second, the emptying route is singular, using only the return-to-home route, which cannot meet the diverse needs of users. Furthermore, in actual operation, users often prefer that the drone's tank be free of residual pesticide after the operation to avoid subsequent processing problems: on the one hand, randomly dumping pesticides and other materials on the ground can cause environmental pollution or crop damage; on the other hand, manually emptying the remaining material is time-consuming and labor-intensive.
[0075] To address the aforementioned issues, this invention provides a method, apparatus, electronic device, and storage medium for emptying operations using agricultural drones. On one hand, after an agricultural drone completes its autonomous operation, the system automatically initiates an emptying operation regardless of whether the remaining material reaches a preset threshold. This eliminates the need for the system to trigger emptying only when the remaining material reaches the set threshold, ensuring that no material remains after the drone returns from its operation. This avoids the tedious manual emptying process and effectively prevents potential environmental pollution or crop damage caused by remaining material. On the other hand, the system provides various types of emptying operation routes to meet diverse user needs.
[0076] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
[0077] Please refer to Figure 1This is a schematic flowchart illustrating a method for aerial spraying operations using agricultural drones according to an embodiment of the present invention. It should be noted that the method for aerial spraying operations using agricultural drones of the present invention does not rely on... Figure 1 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the agricultural drone air-purifying operation method of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The executing entity of this agricultural drone air-purifying operation method can be an agricultural drone, a smartphone, a tablet computer, a remote controller, or other electronic devices. Different steps of this agricultural drone air-purifying operation method can be executed by the same device or by different devices. For example, some steps can be executed by the agricultural drone, and some steps can be executed by the remote controller. This embodiment does not limit this. The following will describe... Figure 1 The specific process shown will be explained in detail.
[0078] Step S101: Obtain autonomous operation parameters and autonomous operation route.
[0079] In this embodiment, before executing autonomous operation tasks, the agricultural drone needs to acquire the corresponding autonomous operation parameters and autonomous operation flight path. The autonomous operation parameters mainly include parameters such as flight altitude, speed, and spraying rate, while the autonomous operation flight path defines the flight path of the agricultural drone within the operation area. By acquiring these parameters and flight path, it can be ensured that the agricultural drone can complete its operation tasks efficiently and accurately.
[0080] Step S102: Control the agricultural drone to perform autonomous operation tasks according to the autonomous operation parameters and autonomous operation route.
[0081] In this embodiment, after acquiring autonomous operation parameters and autonomous operation routes, the agricultural drone will perform autonomous operation tasks based on these parameters and routes. For example, the agricultural drone will perform spraying or spreading operations along the autonomous operation route.
[0082] Step S103: After the agricultural drone completes its autonomous operation, control the agricultural drone to perform an emptying operation to discharge the remaining material from the agricultural drone until there is no or almost no remaining material.
[0083] In this embodiment, whether the agricultural drone has completed its autonomous operation task can be determined based on whether the agricultural drone has reached the end of its autonomous operation route or the progress of its operation.
[0084] For example, when an agricultural drone performs spraying or spreading operations along an autonomous operating route, it can be considered to have completed its autonomous operation task when it reaches the end of the autonomous operating route. Alternatively, during the autonomous operation of an agricultural drone, the operation progress will be counted in real time, and when the operation progress reaches 100%, it can be considered to have completed its autonomous operation task.
[0085] In this embodiment, after completing its autonomous operation, the agricultural drone does not return directly. Instead, it enters a venting process to remove any remaining material until it is almost completely discharged. This ensures that the drone returns without any residual material, avoiding the tedious manual venting process and effectively preventing potential environmental pollution or crop damage from leftover materials. This meets the user's need for venting residual materials after the agricultural drone's operation. Furthermore, the venting operation seamlessly follows the autonomous operation; the two tasks are independent and not deeply coupled, allowing for separate planning and settings.
[0086] In this embodiment, the remaining material of the agricultural drone is discharged to almost nothing, which can be understood as the remaining amount after the agricultural drone is emptied being lower than a preset value.
[0087] As can be seen, the agricultural drone emptying operation method provided in this embodiment of the invention acquires autonomous operation parameters and autonomous operation routes, controls the agricultural drone to perform autonomous operation tasks based on these parameters and routes, and then controls the agricultural drone to perform an emptying operation after the drone completes its autonomous operation tasks, thereby discharging any remaining material until there is none or nearly none remaining. This method does not rely on the remaining material reaching a set threshold to trigger emptying; instead, it can discharge remaining material after the agricultural drone completes its autonomous operation tasks until there is none or nearly none remaining. This ensures that there is no remaining material after the agricultural drone returns from its operation, avoiding the tedious manual emptying process and effectively preventing environmental pollution or crop damage that may be caused by remaining material.
[0088] In practical applications, the emptying operation task can be generated before, during, or after the agricultural drone performs its autonomous operation task. Taking the emptying operation task generated after the completion of the autonomous operation task as an example, step S103 above, which involves controlling the agricultural drone to perform the emptying operation task after the agricultural drone completes its autonomous operation task, can specifically include:
[0089] After the agricultural drone completes its autonomous operation, it generates an emptying operation task and controls the agricultural drone to perform the emptying operation task.
[0090] Understandably, by generating an emptying operation task after the agricultural drone completes its autonomous operation, it is possible to accurately know how much material remains after the autonomous operation is completed, thereby better planning the emptying operation task.
[0091] In one implementation, since a drainage operation task needs to be generated after the agricultural drone completes its autonomous operation task, the agricultural drone needs to remain in a suitable position during the generation of the drainage operation task to ensure the smooth execution of the subsequent drainage operation task. Based on this, the agricultural drone drainage operation method provided in this embodiment of the invention may further include:
[0092] After the agricultural drone completes its autonomous operation, it is controlled to hover at the end of the autonomous operation route, waiting for the generation of the air discharge operation task.
[0093] It is evident that after the agricultural drone completes its autonomous operation, by controlling the agricultural drone to hover at the end of the autonomous operation route, the agricultural drone can wait in the hovering state to generate the drainage operation task, thus ensuring the smooth execution of the subsequent drainage operation task.
[0094] In practical applications, users can choose whether to enable the emptying function after the operation is completed, based on their own needs. Therefore, in step S103 above, after the agricultural drone completes its autonomous operation, controlling the agricultural drone to perform the emptying operation can specifically include:
[0095] After the agricultural drone completes its autonomous operation, and the operation completion and emptying function is enabled, control the agricultural drone to perform the emptying operation.
[0096] The emptying function can be activated before or during the autonomous operation of the agricultural drone. Once the agricultural drone has completed its autonomous operation and the emptying function is activated, it will perform an emptying operation.
[0097] In practical applications, the venting function of this operation can be controlled by a switch to enable or disable it. For example... Figure 2 As shown, users can turn on the switch control 201 before or during the autonomous operation of the agricultural drone to activate the emptying function upon completion of the operation. When the agricultural drone completes the autonomous operation and the user has activated the emptying function, the agricultural drone will automatically perform the emptying operation.
[0098] In one embodiment, the drainage operation task may include a drainage operation route and drainage operation parameters. Therefore, before controlling the agricultural drone to perform the drainage operation task in step S103 above, the agricultural drone drainage operation method provided in this embodiment of the invention may further include:
[0099] Obtain the drainage operation route and drainage operation parameters; generate the drainage operation task based on the drainage operation parameters and drainage operation route.
[0100] In this embodiment, the drainage operation task has a corresponding drainage operation route and drainage operation parameters. After the drainage operation task is generated according to the drainage operation parameters and drainage operation route, the agricultural drone can perform the drainage operation task according to the drainage operation route and drainage operation parameters.
[0101] The parameters for the air purging operation can include spraying rate (spraying amount per acre), atomized particles, spreading rate (spreading amount per acre), return altitude, and return speed. It should be noted that the air purging operation parameters in this embodiment are different from the autonomous operation parameters in the autonomous operation task; they can be the same or different. Some parameters in the air purging operation parameters and autonomous operation parameters can be the same by default, such as the default value of spraying / spreading rate, which is consistent with the autonomous operation parameters of the operation plot (the last operation plot). Of course, users can adjust them as needed.
[0102] To accommodate different user needs, various route types can be offered for drainage operation routes, and corresponding drainage operation routes can be planned based on these different route types. Therefore, the steps described above for obtaining drainage operation routes may specifically include:
[0103] Determine the target route type for the drainage operation and plan the drainage operation route according to the target route type. The target route type includes one or more of the following: return route, edge sweeping route, and boundary shrinkage route.
[0104] In one example, the target route type for the drainage operation route can also use the default route type, for example, the return route is used by default to plan the drainage operation route.
[0105] In another example, the target route type for the drainage operation can be selected by the user. For example, the user can select the target route type from the three provided route types, namely, return route, edge sweeping route, and boundary shrinkage route, according to the actual operation scenario requirements of the agricultural drone, and then plan the drainage operation route according to the selected target route type.
[0106] The following sections will explain how to determine the return route, the border sweeping route, and the route within the border.
[0107] In one implementation, when a user selects to use a return route to plan the drainage operation route, the above steps for obtaining the drainage operation route may specifically include:
[0108] The return route is planned with the end point of the autonomous operation route as the starting point and the return point as the ending point; the return route is determined as the air discharge operation route.
[0109] In other words, the return route is a route planned with the end of the autonomous operation route as the starting point and the return point as the ending point. When a user chooses to use the return route, the planned return route will be used as the air discharge operation route.
[0110] In one implementation, when the user selects to use a sweeping route to plan the drainage operation route, the above steps for obtaining the drainage operation route may specifically include:
[0111] Starting from the end of the autonomous operation route, a sweeping route is planned to fly along the boundary of the land parcel, and the sweeping route is determined as the drainage operation route.
[0112] In this embodiment, by planning a sweeping route along the boundary of the plot as the drainage operation route, the agricultural drone can evenly discharge the remaining material to the edge area of the plot after completing the drainage operation.
[0113] In one implementation, the above steps for planning the sweeping flight path along the land parcel boundary may specifically include:
[0114] The target boundary segment is determined from multiple boundary segments of the land parcel, and a sweeping route passing through the target boundary segment is planned.
[0115] For example, a user can select a target boundary segment from multiple boundary segments of the land parcel. After obtaining the target boundary segment determined by the user, a sweeping route that passes through the target boundary segment selected by the user is planned, thereby obtaining the sweeping and drainage operation route.
[0116] In one implementation, when a user selects to use a boundary-recessed route to plan the drainage operation route, the above steps for obtaining the drainage operation route may specifically include:
[0117] Multiple gradients are applied to the boundary of the land parcel to obtain multiple candidate shrinkage routes; the boundary shrinkage route is determined based on the multiple candidate shrinkage routes; the boundary shrinkage route is then determined as the drainage operation route.
[0118] In this embodiment, when the land parcel boundary is shrunk inward at multiple gradients, the shrunk distance needs to be greater than the set boundary safety distance. For example... Figure 3 As shown, by shrinking the land parcel boundary 301 inwards at multiple gradients, multiple closed candidate shrinkage routes 302 can be obtained; from Figure 3 Among the candidate inward-sloping routes 302 shown, the following were identified: Figure 4 The boundary narrowing route 401 shown is used to obtain the air discharge operation route.
[0119] It is evident that by determining the discharge route by narrowing the boundary of the plot at different gradients, the discharge location of the remaining material can be controlled more precisely, avoiding over-spraying of the edge area of the plot.
[0120] In practical applications, the boundary narrowing route can be automatically planned based on multiple candidate narrowing routes. Users can also edit the automatically planned boundary narrowing route to obtain the final drainage operation route.
[0121] In one implementation, the above step of determining the boundary narrowing route based on multiple candidate narrowing routes may specifically include:
[0122] Select one or more consecutive segments from multiple candidate narrowing routes as the boundary narrowing route.
[0123] In this embodiment, when selecting a segment as the boundary narrowing route from multiple candidate narrowing routes, the following priorities can be followed: 1. The shortest length of the drainage operation route + the return route after the drainage operation; 2. The segment with fewer turns (or fewer segments).
[0124] In another implementation, the above step of determining the boundary narrowing route based on multiple candidate narrowing routes may specifically include:
[0125] Select one or more consecutive segments from each narrowing route as the initial boundary narrowing route; based on the user's editing operations on the initial boundary narrowing route, obtain the boundary narrowing route.
[0126] In other words, users can edit the initial boundary narrowing route based on the automatically planned route, and the route edited by the user becomes the final boundary narrowing route, which is also the air purging operation route.
[0127] In practical applications, the drainage operation route and parameters required for agricultural drones to perform drainage operations can be determined by the user. Based on this, the steps described above for obtaining the drainage operation route and parameters can specifically include: displaying the drainage operation settings interface after the agricultural drone completes autonomous operations; obtaining the drainage operation parameters based on the user's parameter settings in the drainage operation settings interface; and / or obtaining the drainage operation route based on the user's route settings in the drainage operation settings interface.
[0128] Specifically, when acquiring venting operation parameters, a parameter setting interface can be generated based on the user's operation on the parameter setting controls in the venting operation setting interface; and the corresponding venting operation parameters can be acquired based on the user's setting operations for different venting operation parameters in the parameter setting interface.
[0129] When obtaining the air purging operation route, the route setting interface can be generated based on the user's operation on the route setting controls in the air purging operation setting interface; and the corresponding air purging operation route can be obtained based on the user's selection of the target route type in the route setting interface.
[0130] The following will illustrate the interface interaction process for users to determine the parameters and routes of the drainage operation with reference to the accompanying drawings.
[0131] During the autonomous operation of agricultural drones, the electronic equipment will display... Figure 5 The autonomous operation interface shown indicates that once the agricultural drone completes its autonomous operation (for example, the autonomous operation progress is displayed as 100%), the electronic equipment will... Figure 5 The autonomous operation interface shown has been switched to Figure 6 The interface shown is for setting up the drainage operation. At this time, the agricultural drone is hovering at the end of its autonomous operation route, waiting for the drainage operation task to be generated.
[0132] Regarding the settings for venting operation parameters, users can... Figure 6 In the evacuation operation settings interface shown, clicking the parameter setting control 601 will display the electronic device. Figure 7 The parameter setting interface shown includes multiple controls, such as spray volume control 701, atomized particle size control 702, return altitude control 703, and return speed control 704. Based on these controls, users can adjust the air purging operation parameters such as spray volume, atomized particle size, return altitude, and return speed accordingly.
[0133] Regarding the setting of air purging operation routes, users in Figure 6 In the air purging operation settings interface shown, clicking the route setting control 602 will display the electronic equipment. Figure 8 The route setting interface shown provides three controls: return route control, edge sweeping route control, and boundary shrinking route control. Users can determine the target route type for the air purging operation by clicking the control corresponding to the corresponding route type.
[0134] When a user selects a return route, the starting point is the end of the autonomous operation route, and the return point (e.g., ...) is the destination. Figure 6 The return route, with point H in the map as the endpoint, is used as the drainage operation route. When the user selects the edge sweeping route, the drainage operation settings interface will change. Figure 6 Become Figure 9 The edge sweeping setting control 901 will be displayed on the emptying operation settings interface; based on the user's operation on the edge sweeping setting control 901 (such as clicking the edge sweeping setting control 901), an action will be generated. Figure 10 The edge sweeping settings interface is shown below. Figure 10As shown, the plot boundary is divided into 6 boundary segments (numbered 1, 2, 3, 4, 5, and 6). When the user selects the 4th and 5th boundary segments as the target boundary segments, a flight path will be planned through the 4th and 5th boundary segments, thus obtaining the sweeping and drainage operation flight path. Furthermore, the spraying method for the agricultural drone during edge sweeping can be determined based on the user's selection of different edge sweeping spraying methods on the edge sweeping settings interface. For example, the user can... Figure 10 In the edge-sweeping settings interface shown, click the outer spray control or the bilateral spray control to determine the spraying method when the agricultural drone sweeps the edge.
[0135] When a user selects a boundary narrowing route, the default process is to first narrow the land parcel boundary in multiple gradients, resulting in multiple closed candidate narrowing routes. Then, from these candidate narrowing routes, one or more consecutive segments are selected to obtain the boundary narrowing route, which is then used as the drainage operation route. Furthermore, when a user selects a boundary narrowing route, the drainage operation settings interface will change... Figure 6 Become Figure 11 The air-draining operation settings interface will display the edit route control 1101. If the user does not edit the automatically planned boundary narrowing route (initial boundary narrowing route), this boundary narrowing route will be used as the air-draining operation route for the agricultural drone to perform air-draining operations. If the user wants to edit the automatically planned boundary narrowing route, the user can click... Figure 11 The edit route control 1101 in the middle generates based on the user's operation on the edit route control 1101. Figure 12 The edit route interface shown obtains the final air purging operation route based on the user's editing operations on the automatically planned boundary narrowing route on this interface.
[0136] In practical applications, to help users understand the venting situation intuitively, the estimated venting results corresponding to the venting task can be displayed after the venting task is generated.
[0137] The estimated evacuation result can be either the estimated evacuation volume or the estimated remaining volume after evacuation. By displaying the estimated evacuation result, users can easily see whether the current evacuation operation parameters and evacuation operation route can meet their needs, and thus determine whether it is necessary to adjust the evacuation operation parameters and evacuation operation route.
[0138] In one embodiment, when the estimated venting result uses the estimated venting volume, the present invention can calculate the estimated venting volume corresponding to the venting operation task based on the venting operation parameters, the venting operation route, the preset route spacing, and the remaining material.
[0139] In one example, assuming the estimated venting volume is expressed as a percentage, the formula for calculating the estimated venting volume can be expressed as: Estimated venting volume = venting operation route length × preset route spacing × spray volume in venting operation parameters ÷ remaining material volume × 100%. The preset route spacing can be set according to the actual operation scenario; for example, it can be set to 7 meters.
[0140] In one embodiment, the method for aerial spraying of agricultural drones may further include:
[0141] The estimated drainage results are updated in real time based on the drainage operation parameters and / or drainage operation routes adjusted by the user.
[0142] As can be seen from the above formula for calculating the estimated venting volume, the estimated venting volume will change when the user adjusts the venting operation parameters and / or the venting operation route. Therefore, the displayed estimated venting volume needs to be updated in real time.
[0143] For example, electronic devices in Figure 5 The autonomous operation interface shown has just switched to Figure 6 When viewing the evacuation operation settings interface, the estimated evacuation volume displayed may be calculated based on the default evacuation operation route and parameters, i.e., 95%. After the user adjusts the evacuation operation route and parameters, the estimated evacuation volume may be... Figure 11 The estimated venting volume shown is 100%.
[0144] Optionally, in order to perform the corresponding steps in the above embodiments and various possible methods, an implementation method of a plant protection drone aerial spraying device is given below. Please refer to... Figure 13 This is a functional block diagram of an agricultural drone drainage device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the agricultural drone drainage device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The agricultural drone drainage device includes a data acquisition module 210 and a processing module 220.
[0145] The data acquisition module 210 is used to acquire autonomous operation parameters and autonomous operation routes.
[0146] It is understood that the data acquisition module 210 can perform the above step S101.
[0147] The processing module 220 is used to control the agricultural drone to perform autonomous operation tasks according to the autonomous operation parameters and autonomous operation route; after the agricultural drone completes the autonomous operation task, it controls the agricultural drone to perform an emptying operation task to discharge the remaining material of the agricultural drone until there is no residue or almost no residue.
[0148] It is understood that the processing module 220 can execute the above step S102.
[0149] Optionally, the processing module 220 is also used to obtain the drainage operation route and drainage operation parameters before controlling the agricultural drone to perform the drainage operation task; and to generate the drainage operation task based on the drainage operation parameters and drainage operation route.
[0150] Optionally, the processing module 220 is specifically used to generate an emptying operation task after the agricultural drone completes its autonomous operation task, and control the agricultural drone to perform the emptying operation task.
[0151] Optionally, the processing module 220 is also used to control the agricultural drone to hover at the end of the autonomous operation route after the agricultural drone has completed its autonomous operation task, and wait for the generation of the emptying operation task.
[0152] Optionally, the processing module 220 is also used to control the agricultural drone to perform a drainage operation task after the agricultural drone has completed its autonomous operation task and the drainage function is enabled.
[0153] Optionally, the processing module 220 is specifically used to determine the target route type of the drainage operation route and plan the drainage operation route according to the target route type. The target route type includes one or more of the following: return route, edge sweeping route, and boundary shrinkage route.
[0154] Optionally, the processing module 220 is specifically used to plan a return route with the end point of the autonomous operation route as the starting point and the return point as the ending point; and to determine the return route as the emptying operation route.
[0155] Optionally, the processing module 220 is specifically used to plan a sweeping route along the boundary of the land parcel, starting from the end of the autonomous operation route, and to determine the sweeping route as the drainage operation route.
[0156] Optionally, the processing module 220 is also specifically used to determine the target boundary segment from multiple boundary segments of the land parcel boundary and plan the sweeping route through the target boundary segment.
[0157] Optionally, the processing module 220 is specifically used to perform multiple gradient shrinkage on the boundary of the land parcel to obtain multiple candidate shrinkage routes; determine the boundary shrinkage route based on the multiple candidate shrinkage routes; and determine the boundary shrinkage route as the drainage operation route.
[0158] Optionally, the processing module 220 is also specifically used to select one or more consecutive segments from multiple candidate narrowing routes as the boundary narrowing route.
[0159] Optionally, the processing module 220 is further configured to select one or more consecutive segments from each shrinking route as the initial boundary shrinking route; and to obtain the boundary shrinking route based on the user's editing operation on the initial boundary shrinking route.
[0160] Optionally, the processing module 220 is also specifically used to display the drainage operation setting interface after the agricultural drone completes autonomous operation; obtain drainage operation parameters according to the parameter setting operation of the user in the drainage operation setting interface; and / or obtain the drainage operation route according to the route setting operation of the user in the drainage operation setting interface.
[0161] Optionally, the processing module 220 is also used to display the estimated drainage result corresponding to the drainage task after the drainage task is generated.
[0162] Optionally, the estimated venting result includes the estimated venting volume. The processing module 220 is also used to calculate the estimated venting volume corresponding to the venting operation task based on the venting operation parameters, the venting operation route, the preset route spacing, and the remaining material.
[0163] Optionally, the processing module 220 is also used to update the displayed estimated drainage results in real time based on the drainage operation parameters and / or drainage operation routes adjusted by the user.
[0164] Please refer to Figure 14 This is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 can be an agricultural drone, a smartphone, a tablet computer, a remote control, or other similar devices. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.
[0165] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.
[0166] The processor 120 is used to read / write data or programs stored in the memory 110 and perform corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the aerial spraying method of the agricultural drone disclosed in the above embodiments can be implemented.
[0167] The communication module 130 is used to establish a communication connection between the electronic device and other devices via a network, and to send and receive data via the network.
[0168] It should be understood that, Figure 14 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than those shown. Figure 14 The more or fewer components shown, or having the same Figure 14 The different configurations shown. Figure 14 The components shown can be implemented using hardware, software, or a combination thereof.
[0169] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by processor 120, implements the aerial spraying method for agricultural drones disclosed in the above embodiments.
[0170] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0171] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0172] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to known technology, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0173] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A method for aerial spraying operations using agricultural drones, characterized in that, The method includes: Acquire autonomous operation parameters and autonomous operation routes; Based on the autonomous operation parameters and the autonomous operation route, the agricultural drone is controlled to perform autonomous operation tasks. After the agricultural drone completes its autonomous operation, the system controls the agricultural drone to perform an emptying operation to discharge any remaining material from the agricultural drone until there is no material left or almost no material left.
2. The method for aerial spraying of agricultural drones according to claim 1, characterized in that, Before controlling the agricultural drone to perform the air-purifying operation, the method further includes: Obtain the drainage operation route and drainage operation parameters; A drainage operation task is generated based on the drainage operation parameters and the drainage operation route.
3. The method for aerial spraying of agricultural drones according to claim 2, characterized in that, The acquisition of the evacuation operation route includes: Determine the target route type for the drainage operation, and plan the drainage operation route according to the target route type. The target route type includes one or more of the following: return route, edge sweeping route, and boundary shrinkage route.
4. The method for aerial spraying of agricultural drones according to claim 2, characterized in that, The acquisition of the evacuation operation route includes: The return route is planned with the end point of the autonomous operation route as the starting point and the return point as the ending point. The return route was determined as the drainage operation route.
5. The method for aerial spraying operations of agricultural drones according to claim 2, characterized in that, The acquisition of the evacuation operation route includes: Starting from the end point of the autonomous operation route, a sweeping route is planned to fly along the boundary of the land parcel, and the sweeping route is determined as the drainage operation route.
6. The method for aerial spraying of agricultural drones according to claim 5, characterized in that, The planned sweeping flight path along the land parcel boundary includes: The target boundary segment is determined from multiple boundary segments of the land parcel, and a sweeping route passing through the target boundary segment is planned.
7. The method for aerial spraying of agricultural drones according to claim 2, characterized in that, The acquisition of the evacuation operation route includes: Multiple gradient shrinkages are applied to the boundary of the land parcel to obtain multiple candidate shrinkage routes. The boundary narrowing route is determined based on multiple candidate narrowing routes. The inner boundary route is designated as the drainage operation route.
8. The method for aerial spraying of agricultural drones according to claim 7, characterized in that, The step of determining the boundary narrowing route based on multiple candidate narrowing routes includes: Select one or more consecutive segments from the multiple candidate narrowing routes as the boundary narrowing route.
9. The method for aerial spraying of agricultural drones according to claim 7, characterized in that, The step of determining the boundary narrowing route based on multiple candidate narrowing routes includes: Select one or more consecutive segments from each of the aforementioned narrowing routes as the initial boundary narrowing route; Based on the user's editing operations on the initial boundary shrinkage route, the boundary shrinkage route is obtained.
10. The method for aerial spraying of agricultural drones according to any one of claims 2-9, characterized in that, The acquisition of the drainage operation route and drainage operation parameters includes: After the agricultural drone completes its autonomous operation, the air purging operation settings interface is displayed. Based on the parameter settings performed by the user in the evacuation operation settings interface, obtain the evacuation operation parameters; and / or, based on the route settings performed by the user in the evacuation operation settings interface, obtain the evacuation operation route.
11. The method for aerial spraying of agricultural drones according to claim 2, characterized in that, The method further includes: After the evacuation task is generated, the estimated evacuation result corresponding to the evacuation task is displayed.
12. The method for aerial spraying operations of agricultural drones according to claim 11, characterized in that, The estimated venting result includes the estimated venting volume. Before displaying the estimated venting result corresponding to the venting operation task, the method further includes: The estimated venting volume corresponding to the venting operation task is calculated based on the venting operation parameters, the venting operation route, the preset route spacing, and the remaining material quantity.
13. The method for aerial spraying operations of agricultural drones according to claim 11, characterized in that, The method further includes: The estimated drainage results are updated in real time based on the drainage operation parameters and / or drainage operation routes adjusted by the user.
14. The method for aerial spraying operations of agricultural drones according to claim 1, characterized in that, After the agricultural drone completes its autonomous operation task, controlling the agricultural drone to perform an air-purification operation task includes: After the agricultural drone completes the autonomous operation task, a drainage operation task is generated, and the agricultural drone is controlled to execute the drainage operation task.
15. The method for aerial spraying operations of agricultural drones according to claim 14, characterized in that, The method further includes: After the agricultural drone completes the autonomous operation task, it is controlled to hover at the end of the autonomous operation route and wait for the generation of the drainage operation task.
16. The method for aerial spraying operations of agricultural drones according to claim 1, characterized in that, After the agricultural drone completes its autonomous operation task, controlling the agricultural drone to perform an air-purification operation task includes: After the agricultural drone completes the autonomous operation task, and the operation completion and emptying function is in the activated state, control the agricultural drone to perform the emptying operation task.
17. A plant protection drone aerial spraying device, characterized in that, The device includes: The data acquisition module is used to acquire autonomous operation parameters and autonomous operation routes; The processing module is used to control the agricultural drone to perform autonomous operation tasks according to the autonomous operation parameters and the autonomous operation route; after the agricultural drone completes the autonomous operation task, it controls the agricultural drone to perform a discharge operation task to discharge the remaining material of the agricultural drone until there is no residue or almost no residue.
18. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the agricultural drone air-purification operation method as described in any one of claims 1-16.
19. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the agricultural drone air-purification operation method as described in any one of claims 1-16.