Method for controlling agricultural unmanned aerial vehicle to spread materials, and agricultural unmanned aerial vehicle

Abstract

A method for controlling an agricultural unmanned aerial vehicle to spread materials, and an agricultural unmanned aerial vehicle. The method comprises: at an nth moment, acquiring the speed vn of an agricultural unmanned aerial vehicle, where n is a positive integer greater than 1; determining an acceleration an according to the speed vn and a speed vn-1 of the agricultural unmanned aerial vehicle at an (n-1)th moment; determining that the acceleration an is less than or equal to a preset acceleration threshold value, wherein the preset acceleration threshold value is determined by an opening speed of a cabin door of the agricultural unmanned aerial vehicle; predicting a speed vn+1 of the agricultural unmanned aerial vehicle at an (n+1)th moment according to the speed vn and the acceleration an; determining a material flow velocity Fn+1 of the agricultural unmanned aerial vehicle according to the speed vn+1; and according to the material flow velocity Fn+1, controlling the agricultural unmanned aerial vehicle to spread materials. The method facilitates the implementation of accurate control over a material flow velocity by an agricultural unmanned aerial vehicle, thereby facilitating an improvement in a spreading effect.

Description

Method for controlling agricultural drone to spread materials and agricultural drone

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 3, 2023, with application number 202310967057.8 and application name “Method for controlling agricultural drones to spread materials and agricultural drones”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of agricultural drones, and more specifically, to a method for controlling an agricultural drone to spread materials and an agricultural drone. Background Art

[0003] An unmanned farm is an all-weather, full-process, full-space unmanned production operation model that uses new-generation information technologies such as the Internet of Things, big data, artificial intelligence, fifth-generation (5G) communication systems, and robots, without the need for human intervention. It completes all farm production and management tasks through remote control of farm facilities, equipment, and machinery, or autonomous decision-making and operation of intelligent equipment and robots.

[0004] Agricultural drones are currently being used for seeding operations in unmanned farms. However, accurate control of material flow rate is crucial to achieving optimal seeding results. Therefore, precisely controlling material flow rate is a pressing issue.

[0005] Summary of the Invention

[0006] The present application provides a method for controlling an agricultural drone to spread materials and an agricultural drone, which helps to achieve accurate control of the material flow rate by the agricultural drone, thereby helping to improve the spreading effect.

[0007] In a first aspect, the present application provides a method for controlling an agricultural drone to spread materials, the method comprising: obtaining the speed v of the agricultural drone at the nth moment; n , n is a positive integer greater than 1; according to the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n ; Determine the acceleration a n is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the door of the agricultural drone; according to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 ; According to the speed v n+1 The material flow rate F of the agricultural drone is determined by the following formula:n+1 : The material flow rate F n+1 = per mu usage × width × speed v n+1 ; According to the material flow rate F n+1 , control the agricultural drone to spread materials.

[0008] Based on the above technical solution, the speed v of the agricultural drone at the next n+1 moment is calculated. n+1 By making a prediction, we can get the material flow rate F n+1 , and then through the material flow rate F n+1 Control the agricultural drone to spread materials. This can solve the problem of uneven material spreading caused by the speed change of the agricultural drone. n When the acceleration is less than or equal to the preset threshold, the material flow rate of the agricultural drone can be controlled by the above method. This can improve the accuracy of the agricultural drone's control of the material flow rate within a certain range of acceleration changes, thereby helping to improve the sowing effect and accuracy.

[0009] The speed at which the above-mentioned door opens can be a fixed value, and the time consumed for the door to be open varies for different target material flow rates. The faster the material flow rate, the longer it takes to open the door. Once the target material flow rate is determined, the door opening time can be predicted based on the door opening speed. The time it takes for the agricultural drone to reach the target flight speed corresponding to the target material flow rate can be greater than the door opening time, otherwise the material flow rate will not keep up with the flight speed of the agricultural drone. Based on the above technical solution, the preset acceleration threshold can be determined by the door opening speed, which helps to improve the accuracy of the agricultural drone's control of the material flow rate, thereby helping to improve the sowing effect and accuracy.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the material flow rate F n+1 , control the agricultural drone to spread materials, including: according to the material flow rate F n+1 and mapping relationship to determine the door opening C of the agricultural UAV n+1 , the mapping relationship includes the mapping relationship between material flow rate and the gate opening; according to the gate opening C n+1 , control the agricultural drone to spread materials.

[0011] Based on the above technical solution, the agricultural drone can be used according to the material flow rate F n+1 and mapping relationship to determine the door opening C of the agricultural UAV n+1 , thereby controlling the door opening from C n Change to C n+1, to solve the problem of uneven material spreading due to speed changes of agricultural drones, and help to achieve accurate control of material flow rate by agricultural drones, thereby helping to improve spreading effect and accuracy.

[0012] In some possible implementations, the mapping relationship may be a corresponding table of material flow rates and bin door openings, or may be a functional relationship or a curve relationship between the material flow rates and the bin door openings.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the agricultural drone is located in a first area, and the method further includes: obtaining wind information of the first area; wherein, according to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 , including: according to the speed v n , the acceleration a n And the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0014] Based on the above technical solution, at the speed v at the n+1th moment n+1 When making predictions, the wind information of the area where the agricultural drone is located can also be combined, which can improve the speed v at the n+1 moment. n+1 The accuracy of predictions will help improve the accuracy of agricultural drones in controlling material flow rates, thereby helping to improve sowing effects and accuracy.

[0015] In combination with the first aspect, in some implementations of the first aspect, the method further includes: obtaining the speed v' of the agricultural drone at the n+1th moment n+1 ; According to the speed v' n+1 and the speed v n , determine the acceleration a n+1 ; In determining the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

[0016] Based on the above technical solution, when the acceleration of the agricultural drone is greater than the preset acceleration threshold, the acceleration of the agricultural drone can be controlled to decrease, so that the time taken by the agricultural drone to reach the target flight speed corresponding to the target material flow rate is prolonged, so as to ensure that the time taken to reach the target flight speed is greater than the opening time of the warehouse door, which helps to improve the accuracy of the agricultural drone's control of the material flow rate, thereby helping to improve the sowing effect and accuracy.

[0017] In a second aspect, an agricultural drone is provided, which includes a speed sensor and a processor, wherein the speed sensor is used to obtain the speed v of the agricultural drone at the nth moment. n And send the speed v to the processor n , n is a positive integer greater than 1; the processor is used to calculate the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n The processing unit is also used to determine the acceleration a n is less than or equal to a preset acceleration threshold, the preset acceleration threshold being determined by the opening speed of the door of the agricultural UAV; the processor is further configured to adjust the speed v according to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 The processor is also used to calculate the speed v n+1 The material flow rate F of the agricultural drone is determined by the following formula: n+1 : The material flow rate F n+1 = per mu usage × width × speed v n+1 The processor is also used to calculate the material flow rate F n+1 , control the agricultural drone to spread materials.

[0018] In conjunction with the second aspect, in certain implementations of the second aspect, the processor is specifically configured to: n+1 and mapping relationship to determine the door opening C of the agricultural UAV n+1 , the mapping relationship includes the mapping relationship between material flow rate and the gate opening; according to the gate opening C n+1 , control the agricultural drone to spread materials.

[0019] In conjunction with the second aspect, in certain implementations of the second aspect, the agricultural drone is located in a first area, and the agricultural drone further includes a communication module, the communication module is used to obtain wind information of the first area; the processor is specifically used to: according to the speed v n , the acceleration a n And the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0020] In conjunction with the second aspect, in certain implementations of the second aspect, the speed sensor is further configured to obtain the speed v' of the agricultural drone at the n+1th moment. n+1 And send the speed v' to the processor n+1 The processor is also used according to the speed v' n+1 and the speed v n, determine the acceleration a n+1 The processor is further configured to determine the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

[0021] In a third aspect, an agricultural drone is provided, comprising: a memory for storing computer instructions; and a processor for executing the computer instructions stored in the memory, so that the device performs any of the methods described in the first aspect.

[0022] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any one of the methods in the first aspect.

[0023] The above-mentioned computer program code can be stored in whole or in part on the first storage medium, where the first storage medium can be packaged together with the processor or separately from the processor, and the embodiments of the present application do not specifically limit this.

[0024] In a fifth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores a program code, and when the computer program code is run on a computer, the computer executes any one of the methods in the first aspect.

[0025] In a sixth aspect, a chip is provided, comprising a circuit for executing any one of the methods described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic flow chart of a method for controlling an agricultural drone to spread materials according to an embodiment of the present application.

[0027] FIG2 is a schematic diagram of the theoretical material flow rate of the agricultural drone provided in an embodiment of the present application, the average flow rate within the Δt time, and the actual material flow rate of the agricultural drone.

[0028] FIG3 is a relationship curve between the material flow rate F and the bin door opening C provided in an embodiment of the present application.

[0029] FIG4 is a schematic block diagram of an agricultural drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0031] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0032] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0033] An unmanned farm is an all-weather, full-process, full-space unmanned production operation mode that uses new-generation information technologies such as the Internet of Things, big data, artificial intelligence, 5G communication systems, and robotics technology without the need for human intervention. It completes all farm production and management tasks through remote control of farm facilities, equipment, machinery, etc. or autonomous decision-making and operation of intelligent equipment and robots.

[0034] Agricultural drones can currently be used for seeding operations in unmanned farms. Currently, these drones typically use a fixed material flow rate for seeding operations. While this control method is relatively easy to implement, it can affect seeding effectiveness. For example, if the drone's speed increases and the fixed material flow rate is still used, some areas may not receive enough material, impacting crop growth. Therefore, accurately controlling the material flow rate has become a pressing issue.

[0035] When agricultural drones are performing sowing operations, they need to operate according to a given per-acre dosage. Under different widths and flight speeds, the required material flow rate (or the discharge speed of the agricultural drone) is different according to the per-acre dosage requirements. During actual operations, since the flight speed of the drone needs to be adjusted at all times, in order to ensure the accuracy of the per-acre dosage, the material flow rate is also required to be adjusted at all times. In view of this, the embodiment of the present application proposes a method for controlling agricultural drones to spread materials and an agricultural drone, which helps to achieve accurate control of the material flow rate by agricultural drones, thereby helping to improve the sowing effect and accuracy.

[0036] FIG1 is a schematic flow chart of a method 100 for controlling the spreading of materials by an agricultural drone, according to an embodiment of the present application. This method 100 can be applied to unmanned farms. This method 100 can be executed by an agricultural drone, or by a processor, chip, or circuit on the agricultural drone. The following description uses the example of an agricultural drone executing this method 100. This method 100 includes:

[0037] S110, at the nth moment, the agricultural drone obtains the speed v of the agricultural drone n , n is a positive integer greater than 1.

[0038] For example, a speed sensor may be installed on the agricultural drone, and the processor in the agricultural drone may obtain the data collected by the speed sensor, thereby obtaining the speed v at the nth moment (which can be understood as the current moment). n .

[0039] S120, agricultural drone according to the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n .

[0040] For example, the acceleration a of an agricultural drone can be determined by the following formula (1): n :

[0041] Where △t is the duration between the nth moment and the n-1th moment.

[0042] Exemplarily, Δt is 50 milliseconds (ms).

[0043] S130, the agricultural drone determines the acceleration a n Less than or equal to a preset acceleration threshold, where the preset acceleration threshold is determined by the opening speed of the door of the agricultural UAV.

[0044] For example, the preset acceleration threshold may be 3 m / s 2 .

[0045] The door opening speed can be a fixed value, and the door opening time required for different target material flow rates varies. The faster the material flow rate, the longer the door opening time. Once the target material flow rate is determined, the door opening time can be predicted based on the door opening speed. The time it takes for the agricultural drone to reach the target flight speed corresponding to the target material flow rate can be greater than the door opening time; otherwise, the material flow rate will not keep up with the drone's flight speed. Therefore, the preset acceleration threshold can be determined by the door opening speed.

[0046] For example, the acceleration a is determined by the agricultural UAV. n Less than or equal to 3m / s 2 The agricultural drone can continue executing S140-S160. Thus, when the agricultural drone's acceleration is less than or equal to the preset acceleration threshold, the time it takes to reach the target flight speed corresponding to the target material flow rate is longer than the duration of the door opening. By timely adjusting the door opening, uneven spreading caused by speed variations can be compensated, helping to improve the agricultural drone's spreading efficiency and accuracy.

[0047] S140, the agricultural drone is based on the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0048] For example, the speed v of an agricultural drone can be determined by the following formula (2): n+1 : v n+1 =v n +a n ×△t (2)

[0049] Where △t is the duration between the nth moment and the n+1th moment.

[0050] Exemplarily, Δt is 50 ms.

[0051] S150, agricultural drone according to the speed v n+1 And formula (3) to determine the material flow rate F of the agricultural drone n+1 .

[0052] For example, the formula (3) is: Material flow rate F n+1 = per mu usage × width × speed v n+1 (3)

[0053] The per-acre usage may be a first preset value, and the width may be a second preset value.

[0054] The per-acre usage and width settings can be fixed when agricultural drones are flying. In order to achieve uniform spreading, the material flow rate needs to be proportional to the speed of the agricultural drone.

[0055] Ideally, the flight speed and velocity of the agricultural drone at any time can be controlled according to the above formula (3). However, in actual control, it is necessary to discretize them and perform control every △t time. When △t is very small, it can be assumed that the acceleration of the drone is constant within △t time.

[0056] Figure 2 shows a schematic diagram of the theoretical material flow rate (referred to as theoretical flow rate) of the agricultural drone provided in an embodiment of the present application, the average flow rate within the △t time, and the actual material flow rate of the agricultural drone (referred to as actual flow rate).

[0057] As shown in Figure 2, the theoretical flow rate changes over time. In practice, Δt can be used as a time slice for control. Within each Δt, the agricultural drone's acceleration remains constant, so the drone's speed and theoretical flow rate also increase linearly. Therefore, the average material flow rate within the Δt period can be used as the operating flow rate, achieving accurate control of the material flow rate within that time period.

[0058] S160, agricultural drone according to the material flow rate F n+1 , control the agricultural drone to spread materials.

[0059] In one embodiment, the agricultural drone is used according to the material flow rate F n+1 , controlling the agricultural drone to spread materials, including: the agricultural drone according to the material flow rate F n+1 And the mapping relationship, determine the UAV's cabin door opening C n+1 The mapping relationship includes the mapping relationship between the material flow rate and the warehouse door opening; according to the warehouse door opening Cn+1, the agricultural drone is controlled to spread the material.

[0060] For example, the agricultural drone may store a mapping relationship between material flow rate and door opening. FIG3 shows a relationship curve between material flow rate F and door opening C provided in an embodiment of the present application.

[0061] When controlled according to the above method, it can be seen that during the acceleration of the agricultural drone, the flow rate corresponding to the actual flow rate is less than the flow rate corresponding to the theoretical flow rate; during the deceleration process, the flow rate corresponding to the actual flow rate is greater than the flow rate corresponding to the theoretical flow rate. Assuming that the door opening C varies within a small range and is proportional to the flow rate, it can be assumed that during the entire operation of the agricultural drone, the speed of each route starts and ends at 0, and the flow rate deviations caused by the acceleration and deceleration processes are completely offset.

[0062] In one embodiment, the unmanned farm is located in a first area, and the method 100 further includes: obtaining wind information of the first area by an agricultural drone; wherein the agricultural drone obtains wind information of the first area according to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 , including: agricultural drones according to the speed v n , the acceleration a n And the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0063] For example, the agricultural drone may include a communication module that can communicate with a ground station. The ground station can send wind information about the area where the agricultural drone is located to the communication module, and the communication module can send the wind information to the processor of the agricultural drone, so that the processor can combine the speed v n , the acceleration a n And the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0064] In one embodiment, the method 100 further includes: at the n+1th moment, the agricultural drone obtains the speed v' of the agricultural drone n+1 ; The agricultural drone is based on the speed v' n+1 and the speed v n , determine the acceleration a n+1 ; In determining the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

[0065] For example, at the n+1th moment, the agricultural drone determines the acceleration a n+1 Greater than 3m / s 2 When the agricultural drone is in a state of low speed, its acceleration can be controlled to decrease, so as to avoid the time taken by the agricultural drone to reach the target flight speed corresponding to the target material flow rate being less than the opening time of the warehouse door, which helps to improve the accuracy of the agricultural drone in controlling the material flow rate, thereby helping to improve the sowing effect and accuracy.

[0066] The above description is based on the example of a fixed door opening, and the present application is not limited thereto. n+1When the acceleration exceeds the preset threshold, the door opening speed can be controlled to increase, so that the agricultural drone reaches the target flight speed corresponding to the target material flow rate in a longer time than the door is open. This way, by adjusting the door opening speed, the material flow rate can keep up with the agricultural drone's flight speed without adjusting the agricultural drone's acceleration, helping to improve the agricultural drone's accuracy in controlling material flow rate, thereby improving the sowing effect and precision.

[0067] FIG4 shows a schematic block diagram of an agricultural drone 400 provided in an embodiment of the present application. The agricultural drone 400 includes a speed sensor 410 and a processor 420, wherein the speed sensor 410 is used to obtain the speed v of the agricultural drone at the nth moment. n And send the speed v to the processor 420 n , n is a positive integer greater than 1; the processor 420 is used to calculate the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n The processor 420 is also used to determine the acceleration a n is less than or equal to a preset acceleration threshold, the preset acceleration threshold being determined by the opening speed of the door of the agricultural drone; the processor 420 is further configured to adjust the acceleration according to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 The processor 420 is also used according to the speed v n+1 , determine the material flow rate F of the agricultural drone n+1 The processor 420 is also used according to the material flow rate F n+1 , control the agricultural drone to spread materials.

[0068] Optionally, the processor 420 is specifically configured to: n+1 and mapping relationship to determine the door opening C of the agricultural UAV n+1 , the mapping relationship includes the mapping relationship between material flow rate and the gate opening; according to the gate opening C n+1 , control the agricultural drone to spread materials.

[0069] Optionally, the agricultural drone is located in a first area, and the agricultural drone further includes a communication module 430, the communication module 430 is used to obtain wind information of the first area; the processor 420 is specifically used to: n , the acceleration a n And the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

[0070] Optionally, the speed sensor 410 is further used to obtain the speed v' of the agricultural drone at the n+1th moment. n+1 And send the speed v' to the processor n+1 The processor 420 is also used according to the speed v ' n+1 and the speed v n , determine the acceleration a n+1 The processor 420 is also used to determine the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

[0071] Optionally, the duration between the time n and the time n+1 is 50 milliseconds.

[0072] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0073] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0074] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0075] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0077] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0079] If the functions are implemented in the form of software functional units 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 the present application, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0080] 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 changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling an agricultural drone to spread materials, characterized in that: The opening speed of the door of the agricultural drone is a fixed value, and the method includes: At the nth moment, obtain the speed v of the agricultural drone n , n is a positive integer greater than 1; According to the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n ; Determine the acceleration a n is less than or equal to a preset acceleration threshold, wherein the preset acceleration threshold is determined by the opening speed of the door of the agricultural UAV; According to the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 ; According to the speed v n+1 The material flow rate F of the agricultural drone is determined by the following formula: n+1 : The material flow rate F n+1 = per mu usage × width × speed v n+1 ; According to the material flow rate F n+1 and mapping relationship, determine the door opening C of the agricultural UAV n+1 , the mapping relationship includes a mapping relationship between material flow rate and bin door opening; According to the door opening C n+1 , controlling the agricultural drone to spread materials.

2. The method according to claim 1, characterized in that The agricultural drone is located in a first area, and the method further comprises: Acquiring wind force information of the first area; Wherein, the speed v n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 ,include: According to the speed v n , the acceleration a n and the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

3. The method according to claim 1 or 2, characterized in that: The method further comprises: At the n+1th moment, obtain the speed v' of the agricultural drone n+1 ; According to the speed v' n+1 and the speed v n , determine the acceleration a n+1 ; In determining the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

4. An agricultural drone, characterized in that: The agricultural drone comprises a speed sensor and a processor, and the opening speed of the door of the agricultural drone is a fixed value, wherein: The speed sensor is used to obtain the speed v of the agricultural drone at the nth moment. n And send the speed v to the processor n , n is a positive integer greater than 1; The processor is used to determine the speed v n and the speed v of the agricultural drone at the n-1th moment n-1 , determine the acceleration a n ; The processor is further configured to determine the acceleration a n is less than or equal to a preset acceleration threshold, wherein the preset acceleration threshold is determined by the opening speed of the door of the agricultural UAV; The processor is further configured to: n and the acceleration a n , predict the speed v of the agricultural drone at the n+1th moment n+1 ; The processor is further configured to: n+1 The material flow rate F of the agricultural drone is determined by the following formula: n+1 : The material flow rate F n+1 = per mu usage × width × speed v n+1 ; The processor is also used to calculate the material flow rate F n+1 and mapping relationship, determine the door opening C of the agricultural UAV n+1 , the mapping relationship includes a mapping relationship between material flow rate and bin door opening; The processor is also used to calculate the gate opening C according to the gate opening C. n+1 , controlling the agricultural drone to spread materials.

5. The agricultural drone according to claim 4, characterized in that: The agricultural drone is located in the first area, and the agricultural drone also includes a communication module. The communication module is used to obtain wind information of the first area; The processor is specifically used to: n , the acceleration a n and the wind information, predict the speed v of the agricultural drone at the n+1th moment n+1 .

6. The agricultural drone according to claim 4 or 5, characterized in that: The speed sensor is also used to obtain the speed v' of the agricultural drone at the n+1th moment. n+1 And send the speed v' to the processor n+1 ; The processor is further configured to: n+1 and the speed v n , determine the acceleration a n+1 ; The processor is further configured to determine the acceleration a n+1 When the acceleration is greater than the preset acceleration threshold, the acceleration of the agricultural UAV is controlled to decrease.

7. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 3 is implemented.

8. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 1 to 3.

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