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

Methods for controlling agricultural drones to spread materials and agricultural drones

[0001] This application claims priority to Chinese Patent Application No. 202310967057.8, filed on August 3, 2023, entitled “Method for controlling agricultural drone to spread materials and agricultural drone”, the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] Unmanned farms are a type of unmanned production operation mode that utilizes next-generation information technologies such as the Internet of Things, big data, artificial intelligence, 5G communication systems, and robots to complete all farm production and management tasks without human intervention. This mode involves remote control of farm facilities, equipment, and machinery, or autonomous decision-making and operation of intelligent equipment and robots.

[0004] Currently, agricultural drones can be used for seeding operations in unmanned farms. Accurate control of the material flow rate is crucial for improving seeding effectiveness. Therefore, how to accurately control the material flow rate has become a pressing issue.

[0005] Summary of the Invention

[0006] This application provides 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 the agricultural drone, thereby helping to improve the spreading effect.

[0007] In a first aspect, this application provides a method for controlling the dispersal of materials by an agricultural drone, the method comprising: at time n, acquiring the speed v of the agricultural drone. n n is a positive integer greater than 1; based on this speed v n And the speed v of the agricultural drone at time n-1 n-1 Determine the acceleration a n Determine the acceleration a. n The acceleration is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the drone's hatch; based on this speed v... n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. n+1 According to the speed v n+1 The material flow rate F of the agricultural drone is determined using the following formula.n+1 The material flow rate F n+1 = Usage per mu × Width of the strip × Speed ​​v n+1 Based on the material flow rate F n+1 The agricultural drone was controlled to spread materials.

[0008] Based on the above technical solution, by measuring the speed v of the agricultural drone at the (n+1)th future moment... n+1 By making predictions, the material flow rate F can be obtained. n+1 And thus through the material flow rate F n+1 Controlling agricultural drones to spread materials can solve the problem of uneven material spreading caused by variations in the drone's speed. (At acceleration a) n When the acceleration is less than or equal to the preset acceleration 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 over the material flow rate within a certain range of acceleration variation, thereby helping to improve the sowing effect and precision.

[0009] The opening speed of the storage bin can be a fixed value, but the time required for the bin to open varies depending on the target material flow rate. The faster the material flow rate, the longer the time required for the bin to open. Once the target material flow rate is determined, the opening time can be predicted based on the bin's opening speed. The time required for the agricultural drone to reach the target flight speed corresponding to the target material flow rate can be greater than the bin's opening time; otherwise, the material flow rate will not keep up with the drone's flight speed. Based on this technical solution, the preset acceleration threshold can be determined by the bin's opening speed, which helps improve the accuracy of the agricultural drone's control over the material flow rate, thereby improving the spreading effect and precision.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the material flow rate F is used as the basis. n+1 Controlling the agricultural drone to spread materials includes: based on the material flow rate F n+1 Based on the mapping relationship, determine the door opening C of the agricultural drone. n+1 This mapping relationship includes the mapping relationship between material flow rate and silo door opening; based on the silo door opening C... n+1 The agricultural drone was controlled to spread materials.

[0011] Based on the above technical solution, agricultural drones can be equipped with systems that can adjust the material flow rate F. n+1 The mapping relationship determines the door opening C of the agricultural drone. n+1 This controls the opening degree of the cargo door from C n Change to C n+1This addresses the problem of uneven material spreading caused by variations in the speed of agricultural drones, and helps achieve accurate control of material flow rate by agricultural drones, thereby improving spreading effect and precision.

[0012] In some possible implementations, the mapping relationship can be a table showing the correspondence between material flow rate and silo opening, or it can be a functional relationship or a curve relationship between material flow rate and silo opening.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the agricultural drone is located in a first area, and the method further includes: acquiring wind information of the first area; wherein, based on the speed v n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. n+1 This includes: based on the speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at time n+1. n+1 .

[0014] Based on the above technical solution, regarding the velocity v at time n+1... n+1 When making predictions, wind information in the area where the agricultural drone is located can also be incorporated, which can improve the prediction of the speed v at time n+1. n+1 Accurate forecasting helps improve the accuracy of agricultural drones in controlling material flow rate, thereby improving the spreading effect and precision.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: at time n+1, obtaining the speed v' of the agricultural drone. n+1 According to this 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 exceeds the preset acceleration threshold, the acceleration of the agricultural drone is reduced.

[0016] Based on the above technical solution, when the acceleration of the agricultural drone exceeds the preset acceleration threshold, the acceleration of the agricultural drone can be controlled to decrease, thereby increasing the time required for the agricultural drone to reach the target flight speed corresponding to the target material flow rate. This ensures that the time required to reach the target flight speed is greater than the opening time of the hopper door, which helps improve the accuracy of the agricultural drone in controlling the material flow rate, thereby helping to improve the sowing effect and precision.

[0017] Secondly, an agricultural drone is provided, which includes a speed sensor and a processor, wherein the speed sensor is used to acquire the speed v of the agricultural drone at time n. n And send the speed v to the processor n n is a positive integer greater than 1; this processor is used to determine the speed v. n And the speed v of the agricultural drone at time n-1 n-1 Determine the acceleration a n The processing unit is also used to determine the acceleration a. n The speed v is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the drone's hatch; the processor is also configured to adjust the speed v according to the preset acceleration threshold. n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. n+1 The processor is also used to adjust the speed v. n+1 The material flow rate F of the agricultural drone is determined using the following formula. n+1 The material flow rate F n+1 = Usage per mu × Width of the strip × Speed ​​v n+1 The processor is also used to determine the material flow rate F. n+1 The agricultural drone was controlled to spread materials.

[0018] In conjunction with the second aspect, in some implementations of the second aspect, the processor is specifically used to: determine the material flow rate F n+1 Based on the mapping relationship, determine the door opening C of the agricultural drone. n+1 This mapping relationship includes the mapping relationship between material flow rate and silo door opening; based on the silo door opening C... n+1 The agricultural drone was controlled to spread materials.

[0019] In conjunction with the second aspect, in some implementations of the second aspect, the agricultural drone is located in a first area, and the agricultural drone also includes a communication module for acquiring wind information of the first area; the processor is specifically used to: based on the speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at time n+1. n+1 .

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the speed sensor is also used to acquire the speed v' of the agricultural drone at time n+1. n+1 And send the speed v' to the processor n+1 The processor is also used to adjust the speed v' according to the speed. n+1 and the speed v nDetermine the acceleration a n+1 The processor is also used to determine the acceleration a. n+1 When the acceleration exceeds the preset acceleration threshold, the acceleration of the agricultural drone is reduced.

[0021] Thirdly, an agricultural drone is provided, comprising: a memory for storing computer instructions; and a processor for executing the computer instructions stored in the memory to cause the device to perform the method described in any one of the first aspects.

[0022] Fourthly, a computer program product is provided, the computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in any one of the first aspects.

[0023] The aforementioned computer program code may be stored in whole or in part on the first storage medium, wherein the first storage medium may be packaged together with the processor or packaged separately from the processor, and the embodiments of this application do not specifically limit this.

[0024] Fifthly, a computer-readable medium is provided that stores program code, which, when run on a computer, causes the computer to perform the method described in any one of the first aspects.

[0025] In a sixth aspect, a chip is provided, the chip including circuitry for performing the method described in any one of the first aspects. Attached Figure Description

[0026] Figure 1 is a schematic flowchart of a method for controlling an agricultural drone to spread materials according to an embodiment of this application.

[0027] Figure 2 is a schematic diagram of the theoretical material flow rate of the agricultural drone provided in the embodiments of this application, the average flow rate within Δt time, and the actual material flow rate of the agricultural drone.

[0028] Figure 3 is a curve showing the relationship between the material flow rate F and the silo opening C provided in the embodiments of this application.

[0029] Figure 4 is a schematic block diagram of an agricultural drone provided in an embodiment of this application. Detailed Implementation

[0030] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0031] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

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

[0033] Unmanned farms are a type of unmanned production operation mode that utilizes next-generation information technologies such as the Internet of Things, big data, artificial intelligence, 5G communication systems, and robotics to complete all farm production and management tasks without human intervention. This mode involves remote control of farm facilities, equipment, and machinery, or autonomous decision-making and operation of intelligent equipment and robots.

[0034] Currently, agricultural drones can be used for seeding operations in unmanned farms. These drones typically employ a fixed material flow rate for seeding. While this control method is relatively easy to implement, it can negatively impact seeding efficiency. For example, if the drone's speed increases while maintaining a fixed flow rate, some areas may not receive sufficient seed, thus affecting crop growth. Therefore, accurately controlling the material flow rate is a crucial problem that needs to be solved.

[0035] When agricultural drones are used for seeding operations, they need to operate according to a given amount per acre. Different flight widths and speeds require different material flow rates (or the drone's discharge speed) depending on the amount per acre required. In actual operation, because the drone's flight speed needs constant adjustment, the material flow rate also needs constant adjustment to ensure accurate amount per acre. Therefore, this application proposes a method for controlling agricultural drone seeding and an agricultural drone itself, which helps to achieve accurate control of the material flow rate, thereby improving seeding effect and accuracy.

[0036] Figure 1 shows a schematic flowchart of a method 100 for controlling an agricultural drone to spread materials according to an embodiment of this application. This method 100 can be applied to unmanned farms. The method 100 can be executed by the agricultural drone, or by a processor, chip, or circuit on the agricultural drone. The following description uses the execution of the method 100 by an agricultural drone as an example. The method 100 includes:

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

[0038] For example, an agricultural drone can be equipped with a speed sensor. The processor in the agricultural drone can acquire the data collected by the speed sensor, thereby obtaining the speed v at time n (which can be understood as the current time). n .

[0039] S120, agricultural drones based on this speed v n And the speed v of the agricultural drone at time n-1 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 time n and time n-1.

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

[0043] S130, Agricultural drone determines this acceleration a n The acceleration is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the drone's hatch.

[0044] For example, the preset acceleration threshold can be 3 m / s². 2 .

[0045] The door opening speed can be a fixed value, but the opening time varies depending on the target material flow rate. The faster the material flow rate, the longer the door takes to open. Once the target material flow rate is determined, the door opening time can be predicted based on the opening speed. The time required 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, in the agricultural drone, the acceleration a is determined n Less than or equal to 3m / s 2 During this period, the agricultural drone can continue to execute steps S140-S160. In this way, when the drone's acceleration is less than or equal to a preset acceleration threshold, the time taken for the drone to reach the target flight speed corresponding to the target material flow rate is greater than the opening time of the hatch. By adjusting the hatch opening in a timely manner, the problem of uneven spreading caused by speed changes can be compensated for, helping to improve the spreading effect and accuracy of the agricultural drone.

[0047] S140, agricultural drones based on this speed v n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. 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 time n and time n+1.

[0050] For example, Δt is 50ms.

[0051] S150, agricultural drones based on this speed v n+1 Using formula (3), determine the material flow rate F of the agricultural drone. n+1 .

[0052] For example, formula (3) is: Material flow rate F n+1 = Usage per mu × Width × Speed ​​v n+1 (3)

[0053] The amount used per mu can be a first preset value, and the width can be a second preset value.

[0054] When agricultural drones are used for aerial operations, the amount of material per acre and the width of the spread can be fixed. 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 an agricultural drone at any given time can be controlled according to the formula (3) above. However, in actual control, it needs to be discretized, and control should be performed once every Δt time. When Δt is very small, it can be assumed that the acceleration of the drone is constant within the time interval Δt.

[0056] Figure 2 shows a schematic diagram of the theoretical material flow rate (hereinafter referred to as theoretical flow rate), the average flow rate over time Δt, and the actual material flow rate (hereinafter referred to as actual flow rate) of the agricultural drone provided in the embodiments of this application.

[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 interval, the acceleration of the agricultural drone remains constant, so the speed of the agricultural drone and the theoretical flow rate also increase linearly. Therefore, the average material flow rate within the Δt interval can be used as the operational flow rate, enabling accurate control of the material flow rate during that time period.

[0058] S160, the agricultural drone operates based on the material flow rate F. n+1 The agricultural drone was controlled to spread materials.

[0059] In one embodiment, the agricultural drone adjusts the material flow rate F according to the material flow rate F. n+1 Controlling the agricultural drone to spread materials includes: the agricultural drone distributing materials according to the material flow rate F. n+1 Based on the mapping relationship, determine the drone's hatch opening C. n+1 The mapping relationship includes the mapping relationship between material flow rate and silo opening; based on the silo opening Cn+1, the agricultural drone is controlled to spread materials.

[0060] For example, an agricultural drone can store a mapping relationship between material flow rate and door opening. Figure 3 shows the relationship curve between material flow rate F and door opening C provided in an embodiment of this application.

[0061] When controlled in the above manner, it can be observed that during the acceleration of the agricultural drone, the flow rate corresponding to the actual flow velocity is less than that corresponding to the theoretical flow velocity; conversely, during deceleration, the flow rate corresponding to the actual flow velocity is greater than that corresponding to the theoretical flow velocity. Assuming that the door opening C varies within a small range and is proportional to the flow velocity, it can be considered that throughout the entire operation of the agricultural drone, the speed of the drone on each flight path starts at 0 and ends at 0. Therefore, the flow deviations caused by the acceleration and deceleration processes can be completely offset.

[0062] In one embodiment, the unmanned farm is located in a first area, and the method 100 further includes: using an agricultural drone to acquire wind information in the first area; wherein the agricultural drone determines the wind speed based on the speed v. n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. n+1 This includes: agricultural drones based on this speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at time n+1. 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, which can then send this wind information to the drone's processor. The processor can then combine this wind information with the speed v... n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at time n+1. n+1 .

[0064] In one embodiment, the method 100 further includes: at time n+1, the agricultural drone acquires the speed v' of the agricultural drone. n+1 Agricultural drones are based on this 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 exceeds the preset acceleration threshold, the acceleration of the agricultural drone is reduced.

[0065] For example, at time n+1, the agricultural drone determines the acceleration a. n+1 greater than 3m / s 2 At the same time, agricultural drones can control their acceleration to reduce, so that the time it takes for the agricultural drone to reach the target flight speed corresponding to the target material flow rate is less than the opening time of the hopper door. This helps to improve the accuracy of agricultural drones in controlling the material flow rate, thereby helping to improve the sowing effect and precision.

[0066] The above explanation uses a fixed door opening as an example, and the embodiments of this application are not limited to this. For example, when determining the acceleration a... n+1When the acceleration exceeds the preset threshold, the opening speed of the door can be increased so that the time taken for the agricultural drone to reach the target flight speed corresponding to the target material flow rate is greater than the door opening time. In this way, without adjusting the drone's acceleration, the material flow rate can keep up with the drone's flight speed by adjusting the door opening speed. This helps improve the accuracy of controlling the material flow rate, thereby improving the spreading effect and precision.

[0067] Figure 4 shows a schematic block diagram of an agricultural drone 400 provided in an embodiment of this application. The agricultural drone 400 includes a speed sensor 410 and a processor 420, wherein the speed sensor 410 is used to acquire the speed v of the agricultural drone at time n. 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 adjust the speed v. n And the speed v of the agricultural drone at time n-1 n-1 Determine the acceleration a n The processor 420 is also used to determine the acceleration a. n The velocity v is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the drone's hatch; the processor 420 is also used to determine the velocity v based on the speed v. n and the acceleration a n Predict the speed v of the agricultural drone at time n+1. n+1 The processor 420 is also used to adjust the speed v. n+1 Determine the material flow rate F of the agricultural drone. n+1 The processor 420 is also used to determine the material flow rate F. n+1 The agricultural drone was controlled to spread materials.

[0068] Optionally, the processor 420 is specifically used to: adjust the material flow rate F according to the material flow rate F n+1 Based on the mapping relationship, determine the door opening C of the agricultural drone. n+1 This mapping relationship includes the mapping relationship between material flow rate and silo door opening; based on the silo door opening C... n+1 The agricultural drone was controlled to spread materials.

[0069] Optionally, the agricultural drone is located in a first area, and the agricultural drone also includes a communication module 430, which is used to acquire wind information in the first area; the processor 420 is specifically used to: based on the speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at time n+1. n+1 .

[0070] Optionally, the speed sensor 410 is also used to obtain the speed v' of the agricultural drone at time n+1. n+1 And send the speed v' to the processor n+1 The processor 420 is also used to adjust the speed 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 exceeds the preset acceleration threshold, the acceleration of the agricultural drone is reduced.

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

[0072] It should be understood that the processor in the embodiments of this application can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

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

[0074] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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 understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing 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, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0077] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0079] If the aforementioned functions are implemented as 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 this application, in essence, 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. 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, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling agricultural drones to spread materials, characterized in that, The opening speed of the cargo door of the agricultural drone is a fixed value, and the method includes: At time n, the speed v of the agricultural drone is obtained. n n is a positive integer greater than 1; According to the speed v n and the speed v of the agricultural drone at time n-1 n-1 Determine the acceleration a n ; Determine the acceleration a n The acceleration 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 velocity v of the agricultural drone at time n+1. n+1 ; According to the speed v n+1 The material flow rate F of the agricultural drone is determined using the following formula. n+1 : The material flow rate F n+1 = Usage per mu × Width of the strip × Speed ​​v n+1 ; According to the material flow rate F n+1 Based on the mapping relationship, the opening degree C of the agricultural drone's hatch is determined. n+1 The mapping relationship includes the mapping relationship between material flow rate and silo door opening; According to the door opening C n+1 Control the agricultural drone to spread materials.

2. The method according to claim 1, characterized in that, The agricultural drone is located in the first area, and the method further includes: Obtain wind information for the first region; Wherein, according to the speed v n and the acceleration a n Predict the velocity v of the agricultural drone at time n+1. n+1 ,include: According to the speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at the (n+1)th time. n+1 .

3. The method according to claim 1 or 2, characterized in that, The method further includes: At the (n+1)th time, the speed v' of the agricultural drone is obtained. 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 exceeds the preset acceleration threshold, the acceleration of the agricultural drone is controlled to decrease.

4. An agricultural unmanned aerial vehicle, characterized in that, The agricultural drone includes a speed sensor and a processor. The opening speed of the drone's cargo door is a fixed value. The speed sensor is used to acquire the speed v of the agricultural drone at time n. n And send the speed v to the processor n n is a positive integer greater than 1; The processor is configured to, based on the speed v n and the speed v of the agricultural drone at time n-1 n-1 Determine the acceleration a n ; The processor is also configured to determine the acceleration a. n The acceleration is less than or equal to a preset acceleration threshold, which is determined by the opening speed of the door of the agricultural drone. The processor is also configured to, based on the speed v n and the acceleration a n Predict the velocity v of the agricultural drone at time n+1. n+1 ; The processor is also configured to, based on the speed v n+1 The material flow rate F of the agricultural drone is determined using the following formula. n+1 : The material flow rate F n+1 = Amount used per mu × Width of the strip × Speed ​​v n+1 ; The processor is further configured to, based on the material flow rate F n+1 Based on the mapping relationship, the opening degree C of the agricultural drone's hatch is determined. n+1 The mapping relationship includes the mapping relationship between material flow rate and silo door opening; The processor is also configured to determine the door opening C based on... n+1 Control 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 acquire wind information in the first area; The processor is specifically used for: according to the speed v n The acceleration a n Based on the wind information, predict the speed v of the agricultural drone at the (n+1)th time. n+1 .

6. The agricultural drone according to claim 4 or 5, characterized in that, The speed sensor is also used to acquire the speed v' of the agricultural drone at the (n+1)th time. n+1 And send the speed v' to the processor n+1 ; The processor is also configured to adjust the speed v' according to the speed v' n+1 and the speed v n Determine the acceleration a n+1 ; The processor is also configured to determine the acceleration a n+1 When the acceleration exceeds the preset acceleration threshold, the acceleration of the agricultural drone is controlled to decrease.

7. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a computer, enables the implementation of the method as described in any one of claims 1 to 3.

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

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