WO2018094670A1 - Procédé de commande de véhicule aérien sans pilote agricole, et terminal de commande au sol et support d'informations - Google Patents

Procédé de commande de véhicule aérien sans pilote agricole, et terminal de commande au sol et support d'informations Download PDF

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Publication number
WO2018094670A1
WO2018094670A1 PCT/CN2016/107157 CN2016107157W WO2018094670A1 WO 2018094670 A1 WO2018094670 A1 WO 2018094670A1 CN 2016107157 W CN2016107157 W CN 2016107157W WO 2018094670 A1 WO2018094670 A1 WO 2018094670A1
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WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
agricultural unmanned
control information
user
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Ceased
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PCT/CN2016/107157
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English (en)
Chinese (zh)
Inventor
钟和立
徐节文
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202010993000.1A priority Critical patent/CN112099556B/zh
Priority to CN201680002760.3A priority patent/CN106716288B/zh
Priority to PCT/CN2016/107157 priority patent/WO2018094670A1/fr
Publication of WO2018094670A1 publication Critical patent/WO2018094670A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a control method for an agricultural unmanned aerial vehicle, a ground control terminal, and a storage medium.
  • the user can control the unmanned aerial vehicle by controlling the ground control end, for example, controlling the flight mode, flight speed, flying height, and the like of the unmanned aerial vehicle.
  • agricultural and forestry plant protection operations need to be completed, so the requirements for agricultural drones are higher, such as controlling the spraying flow rate of pesticides, controlling the height of agricultural drones from crops, controlling the direction of spraying pesticides on nozzles, and how to prevent them. Heavy spray, leaking spray, accidental spray pesticides, how to determine the route of agricultural drone flight, the interval between routes, etc., and the user can not intuitively adjust the operating parameters of the unmanned aerial vehicle through the existing ground control terminal.
  • the embodiment of the invention provides a control method for an agricultural unmanned aerial vehicle, a ground control end and a storage medium, so as to realize an intuitive adjustment of the operating parameters of the unmanned aerial vehicle by the user.
  • An aspect of an embodiment of the present invention provides a method for controlling an agricultural unmanned aerial vehicle, wherein the agricultural unmanned aerial vehicle is controlled by a ground control terminal, and the ground control terminal is provided with a user interface, and the method includes:
  • the agricultural unmanned aerial vehicle is controlled to perform an operation according to the operation parameter.
  • a ground control terminal including:
  • a memory configured to store processor executable instructions
  • processor is configured to:
  • the agricultural unmanned aerial vehicle is controlled to perform an operation according to the operation parameter.
  • Another aspect of the embodiments of the present invention provides a storage medium, where the program code is stored, and when the program code is running, a control method of the agricultural unmanned aerial vehicle is performed, and the method includes:
  • the agricultural unmanned aerial vehicle is controlled to perform an operation according to the operation parameter.
  • the control method, the ground control end and the storage medium of the agricultural unmanned aerial vehicle provided by the embodiment are provided with a user interface provided by the ground control end, and a control icon of the adjustable operating parameter of the agricultural unmanned aerial vehicle is set on the user interface, and the user can
  • the user interface performs an intuitive operation on the control icon
  • the ground control terminal determines the control information input by the user according to the operation of the user interface by the user, and the control information is specifically used to adjust the operation parameter of the agricultural unmanned aerial vehicle, that is, the user is in the user.
  • the intuitive operation on the interface enables the adjustment of the operating parameters of the agricultural unmanned aerial vehicle, and the user can intuitively adjust the operating parameters of the unmanned aerial vehicle through the ground control terminal.
  • FIG. 1 is a flowchart of a method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a user interface of a remote controller according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an operation area of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a partially enlarged schematic view of a user interface according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a user interface of a remote controller according to another embodiment of the present invention.
  • FIG. 13 is a structural diagram of a ground control end according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for controlling an agricultural unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Acquire control information input by the user on the user interface.
  • the execution body of this embodiment may be a ground control end for controlling an agricultural unmanned aerial vehicle, and the ground control end may include at least one of the following: head mounted display glasses (VR glasses, VR helmets, etc.), a mobile phone, and a remote controller ( Such as a remote control with a display), a smart bracelet, a tablet.
  • a remote controller with a display screen is taken as an example to introduce the principle of the control method of the agricultural unmanned aerial vehicle. Different from the existing remote controller with display screen, the remote controller with display provided in this embodiment is provided with a user interface.
  • the user can control the agricultural unmanned aerial vehicle through the user interface, and the remote controller determines the control information input by the user according to the operation of the user interface by the user, and the control information may include at least one of the following: spray flow control information, spray direction control Information, flight speed control information, flight altitude control information, nozzle control information, route spacing control information, safety distance control information; in some embodiments, the control information may also include other control information.
  • the user can control the spray flow, flight speed, flight height (relative to the height of the crop), the route distance, the safety distance of the agricultural unmanned aerial vehicle, and also enable the radar height setting function and Intelligent sprinkler opening function.
  • the spraying flow rate may specifically be the speed at which the agricultural unmanned aerial vehicle sprays the spraying materials such as pesticides, seeds and water.
  • the route spacing is the distance between the routes of the agricultural unmanned aerial vehicles.
  • the size of the route spacing determines whether the agricultural unmanned aerial vehicles will repeatedly spray or leak when spraying pesticides, seeds, water and other spray materials. Specifically, If the route spacing is too large, it will lead to the leakage of agricultural unmanned aerial vehicles. If the route spacing is too small, the agricultural unmanned aerial vehicles will be repeatedly sprayed.
  • the safety distance is to prevent the distance of the agricultural unmanned aerial vehicle from accidentally hitting the edge of the farmland during flight.
  • the figure 6 shown in FIG. 3 is an enlarged view of the figure 6 in FIG. 2, and 20 indicates the working area of the agricultural unmanned aerial vehicle, for example.
  • 21 represents the route of the agricultural unmanned aerial vehicle
  • 22 represents the edge of the geometrical structure of the route
  • the safety distance refers to the distance between the edge 20 of the farmland and the edge 22 of the geometrical structure of the route, which can be avoided
  • Agricultural unmanned aerial vehicles spray spraying materials such as pesticides, water, seeds, etc. into the agricultural unmanned aerial vehicle operating area
  • the safety distance is controlled in the range of 2.5 meters to 5 meters.
  • the user interface further includes two sliding buttons, a sliding button corresponding to “Radar Fixed Height” and a sliding button corresponding to “Smart Spray Open”, assuming that the sliding button slides to the right to indicate opening, and sliding to the left indicates closing.
  • the agricultural unmanned aerial vehicle is provided with a radar, and the radar can detect the height of the agricultural unmanned aerial vehicle from the crop.
  • the agricultural unmanned aerial vehicle can evenly spray the medicine. Since the topography of the crop planting area may be high and low, the height of the agricultural unmanned aerial vehicle detected by the radar is changed from the height of the crop in real time.
  • the flight controller needs the detection result according to the radar. Adjust the flight height of agricultural unmanned aerial vehicles in real time. Therefore, when the radar constant height function is turned on, it is effective to set the height of the agricultural unmanned aerial vehicle relative to the crop.
  • the agricultural unmanned aerial vehicle is equipped with nozzles in different directions.
  • the figure 7 shown in Fig. 4 is an enlarged view of the figure 7 in Fig. 2, 41 represents the route, 42 represents the agricultural unmanned aerial vehicle, and 43-46 respectively represents the agricultural unmanned
  • the nozzles mounted on the aircraft optional, the agricultural unmanned aerial vehicle is equipped with four nozzles in different directions, the user can open the nozzles in different directions according to the heading of the agricultural unmanned aerial vehicle, for example, when the agricultural unmanned aerial vehicle flies forward, Two nozzles in front of the agricultural unmanned aerial vehicle; when the agricultural unmanned aerial vehicle flies backwards, the two nozzles behind the agricultural unmanned aerial vehicle are turned on; or: when the agricultural unmanned aerial vehicle flies backward, the front of the agricultural unmanned aerial vehicle is opened. Two nozzles; when the agricultural unmanned aerial vehicle flies forward, the two nozzles behind the agricultural unmanned aerial vehicle are turned on, and the user can set according to different needs.
  • the remote controller needs to determine the control information input by the user according to the operation of the user on the user interface, that is, the operation of the user needs to be identified, which can be implemented in the following two ways:
  • the user interface includes at least one of: an operation icon for controlling the spray flow rate; an operation icon for controlling the flight speed of the UAV; an operation icon for controlling the flight height of the UAV; An operation icon for controlling the distance of the route; an operation icon for controlling the safety distance.
  • the operation icon includes at least one of the following: a sliding icon, a rotating icon, and an icon.
  • the operation icon is a slider.
  • the user interface includes a slide bar 1 for controlling the spray flow rate, a slide bar 2 for controlling the flight speed, and a slide bar 3 for controlling the fly height for controlling the route pitch.
  • the slider 4 is used to control the sliding strip 5 of a safe distance.
  • the user can adjust different working parameters of the agricultural unmanned aerial vehicle and the operating parameter values by operating different sliders, such as sliding, clicking, etc., and the remote controller can identify the user adjusted operating parameters and settings according to the operation of the user on different sliding bars. Job parameter value.
  • the user interface includes at least one of: a dialog box for inputting a spray flow value; a dialog box for inputting a flight speed value; a dialog box for inputting a fly height value; and a dialog box for inputting a fly height value; A dialog for entering a safe distance value.
  • the user interface includes a dialog box 51 for inputting a spray flow value, a dialog box 52 for inputting a flight speed value, a dialog box 53 for inputting a flight altitude value, and a dialog for inputting a route pitch value.
  • Block 54 a dialog 55 for entering a safe distance value.
  • the user can adjust different working parameters of the agricultural unmanned aerial vehicle and the operating parameter values by operating different dialog boxes, such as inputting data, and the remote controller can identify the user adjusted operating parameters according to the operation of the different dialog boxes by the user, and set the Job parameter value.
  • Step S102 Determine, according to the control information, a working parameter of the agricultural unmanned aerial vehicle.
  • the operational parameters of the agricultural unmanned aerial vehicle include at least one of the following: spray flow rate, spray direction, flight speed, flight height, nozzle direction, route spacing, and safety distance.
  • the control information input by the user through the user interface includes not only specific job parameters, but also job parameter values.
  • the method for determining, by the remote controller, the operating parameters of the agricultural unmanned aerial vehicle according to the control information may include the following two types:
  • the different operating parameters of the agricultural unmanned aerial vehicle are adjusted correspondingly, for example, when the user operates the sliding bar 1, the user adjusts the spraying flow of the agricultural unmanned aerial vehicle; when the user operates the sliding bar At 4 o'clock, it indicates that the user adjusts the route spacing of the agricultural unmanned aerial vehicle. Therefore, the remote controller can determine the user adjustment according to a sliding bar operated by the user.
  • the operating parameters of the agricultural unmanned aerial vehicle can also control the progress value of the slider when sliding the slider, the progress value represents the value of the corresponding job parameter set by the user, for example, the user slides the slider 1 to one third of the total range. At this time, the progress value of the slider 1 indicates that the spray flow rate is 2.8 L/min, and the progress value of the slide bar is displayed in real time during the sliding process, so that the user can determine the position where the slide is stopped.
  • the user adjusts different working parameters of the agricultural unmanned aerial vehicle when inputting data in different dialog boxes, for example, inputting data in the dialog box 51, indicating that the spray flow of the agricultural unmanned aerial vehicle is adjusted, in the dialog box 51.
  • the specific data entered such as 2.8 L/min, represents the amount of spray flow controlled by the user.
  • Step S103 Control the agricultural unmanned aerial vehicle to perform an operation according to the operation parameter.
  • the remote controller controls the agricultural unmanned aerial vehicle to perform the operation according to the operating parameters of the agricultural unmanned aerial vehicle adjusted by the user. For example, if the user sets the spray flow rate to 2.8 L/min, the remote controller The control signal whose operation parameter is the spray flow rate and the operation parameter value of 2.8 L/min was sent to the flight controller of the agricultural unmanned aerial vehicle, so that the flight controller controlled the agricultural unmanned aerial vehicle with a spray flow rate of 2.8 L/min.
  • the working object of the agricultural unmanned aerial vehicle may be not only a crop but also a vegetation, a forest, or the like.
  • a user interface provided by the ground control terminal is provided, and a control icon of the operational parameter of the agricultural unmanned aerial vehicle can be set on the user interface, and the user can intuitively operate the control icon on the user interface, and the ground control end is based on the user.
  • the control information input by the user is determined, and the control information is specifically used to adjust the operating parameters of the agricultural unmanned aerial vehicle, that is, the user can intuitively operate the user interface to realize the operating parameters of the agricultural unmanned aerial vehicle.
  • the adjustment realizes that the user intuitively adjusts the operating parameters of the unmanned aerial vehicle through the ground control terminal.
  • Embodiments of the present invention provide a method for controlling an agricultural unmanned aerial vehicle.
  • the user interface may also display a map layer or an electronic map as shown in FIG. 61 denotes a crop
  • 62 denotes a toolbar, which specifically displays the GPS accuracy of the remote controller, the planned area of the crop, the distance of the route when the agricultural unmanned aerial vehicle is operated, and the height of the agricultural unmanned aerial vehicle relative to the crop.
  • the specific method of the route planning includes the following contents: the tester carries the remote control to walk in the working area of the agricultural unmanned aerial vehicle, and the remote control has its own
  • the GPS positioning module will perform real-time positioning or periodic positioning of the position of the remote controller.
  • the periodic positioning may be positioned once in 1 second.
  • the remote controller can display the positioning information of the GPS positioning module on the user interface in real time.
  • the tester can click the “Start Measurement C1” icon as shown in FIG. 6 , and the tester clicks the icon “Start Measurement C1” to mark the subsequent GPS positioning module.
  • the positioning information is positioning information of a boundary point of the work area.
  • the boundary point 71 of the work area as shown in FIG. 7 is obtained, and the area formed by the boundary point 71 of the work area is the agriculture mapped by the remote controller.
  • the working area of the unmanned aerial vehicle In addition, there are usually obstacles in the working area of the agricultural unmanned aerial vehicle. Therefore, it is necessary to map the obstacles existing in the working area.
  • the tester can carry the remote control to walk inside the working area, when testing When a person finds an obstacle point such as a big tree or an obstacle area such as a fish pond, he needs to click the “add obstacle C2” icon as shown in Figure 7.
  • the subsequent positioning information of the GPS positioning module is the positioning information of the obstacle in the working area. Specifically, when the tester finds an obstacle point, the GPS positioning module locates the position of the obstacle point. When the tester finds the obstacle area, the tester needs to walk along the boundary of the obstacle area, during walking, The GPS positioning module is positioned in real time or periodically. At the same time, the remote controller displays the positioning information in real time on the user interface. After the tester walks along the boundary of the obstacle area, the obstacle boundary in the working area as shown in FIG. 8 is obtained. 81. On the basis of FIG.
  • the user can also click the “Add Waypoint C3” icon, and after the user clicks the “Add Waypoint C3” icon, the remote controller generates a waypoint 82 according to the data on FIG. 7 and the data on FIG. 8 and displays .
  • the mapping work of the work area has been completed, and the tester clicks the “end obstacle C2” icon on FIG. 8 to end the mapping of the obstacle, and the remote controller automatically generates the user interface as shown in FIG. 9 , as shown in FIG. 9 .
  • the user interface includes an obstacle area 90 for identifying a target area 91 of the agricultural unmanned aerial vehicle working area, and a target line segment 92 for identifying a flight path of the agricultural unmanned aerial vehicle. And a movable marker 93 for identifying the heading of the agricultural unmanned aerial vehicle.
  • the achievable manners of obtaining the spray direction control information input by the user on the user interface include the following:
  • the spray direction control information input by the user on the user interface by rotating the target area is obtained.
  • the user can select the target area 91 on the user interface and rotate the target area 91 in a clockwise direction to obtain a user interface as shown in FIG. 10.
  • the target The direction of the line segment 92 changes, indicating that the user adjusts the flight path of the agricultural unmanned aerial vehicle by rotating the target area 91, and the adjustment of the spray direction is realized.
  • the spray direction control information input by the user on the user interface by rotating the target line segment is obtained.
  • the user can also select the target line segment 92 and rotate the target line segment 92 in a clockwise direction to adjust the flight path of the agricultural unmanned aerial vehicle while adjusting the spray direction of the agricultural unmanned aerial vehicle.
  • the third type is the third type.
  • the spray direction control information input by the user on the user interface by controlling the direction of the movable marker is obtained.
  • the movable marker includes an icon or a cursor.
  • the movable marker 93 can be used to indicate the spray direction of the agricultural unmanned aerial vehicle
  • the spray direction of the agricultural unmanned aerial vehicle is changed, for example, the user presses clockwise
  • the direction adjustment movable mark 93 is obtained as shown in FIG. 11, and the direction of the movable mark 93 is changed as compared with FIG. 9, and the spray direction of the agricultural unmanned aerial vehicle is also changed and movable.
  • the direction of the mark 93 is consistent with the direction of spraying of the agricultural unmanned aerial vehicle.
  • the user interface further includes a first marker point A for identifying the first location of the agricultural unmanned aerial vehicle, and a second location for identifying the agricultural unmanned aerial vehicle
  • the second point is B.
  • the connection line AB can be determined, and the user can also click the left or right side of the connection line AB on the user interface to adjust the spray direction of the agricultural unmanned aerial vehicle, for example, the user is in the user interface. Clicking on the left side of the connection AB, the remote control will control the agricultural unmanned aerial vehicle to fly along the route 121 as shown in Fig. 12, the route 121 is located on the left side of the connection AB, and the agricultural unmanned aerial vehicle is adjusted while adjusting the route. Spray direction.
  • the spray direction control information input by the user on the user interface by the operation of the first marker point and the second marker point is obtained.
  • the user can also input the spray direction control information on the user interface through the operation of the first marker point A and the second marker point B, for example, the user's finger slides from the first marker point A on the user interface.
  • the spraying direction of the control agricultural unmanned aerial vehicle coincides with the direction from the first marking point A to the second marking point B.
  • the user's finger slides from the second marker point B to the first marker point A on the user interface it indicates that the spray direction of the control agricultural unmanned aerial vehicle coincides with the direction from the second marker point B to the first marker point A.
  • the user clicks the first marker point A on the user interface and then clicks the second marker point B it indicates that the spray direction of the agricultural unmanned aerial vehicle is controlled from the first marker point A to the second marker point B. Consistent. If the user clicks the second marker point B on the user interface and then clicks the first marker point A, it indicates that the spray direction of the control agricultural unmanned aerial vehicle coincides with the direction from the second marker point B to the first marker point A.
  • the user interface includes at least one of the following: a target area for identifying an agricultural unmanned aerial vehicle working area, a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle, and used to identify the heading of the agricultural unmanned aerial vehicle. a movable marker for identifying a first marker point at which the agricultural unmanned aerial vehicle is located and a second marker point for identifying a second location of the agricultural unmanned aerial vehicle, such that the user passes the target area on the user interface
  • the rotation direction of the target line segment and the direction of the movable marker can be adjusted to adjust the spray direction of the agricultural unmanned aerial vehicle.
  • the user can also click on the left or right side of the connection between the first marker point and the second marker point. Or, for the operation of the first marking point and the second marking point, adjusting the spraying direction of the agricultural unmanned aerial vehicle, so that the user can conveniently and flexibly adjust the spraying direction of the agricultural unmanned aerial vehicle through the user interface.
  • Embodiments of the present invention provide a method for controlling an agricultural unmanned aerial vehicle. Based on the above embodiment, the agricultural unmanned aerial vehicle is equipped with a plurality of spray heads, each of which is located at a different position of the agricultural unmanned aerial vehicle.
  • Figure 7 is a magnified view of Figure 7 of Figure 2, the user interface displaying a graphic for identifying the agricultural unmanned aerial vehicle, the graphic being used to control the loading of the agricultural unmanned aerial vehicle Nozzle.
  • Figure 42 shows an agricultural unmanned aerial vehicle, curves 43-46 respectively represent four different directions of nozzles mounted on an agricultural unmanned aerial vehicle, target line segment 41 represents a route, target segment AB represents a route, and target segment CD represents a route, indicating that no one is agricultural
  • the graphic 42 of the aircraft is located on the target line segment representing the route.
  • Curves 43-46 are optional parts on the user interface respectively.
  • the curve is selected.
  • the user controls the first two of the agricultural unmanned aerial vehicles through the user interface. The nozzles are opened.
  • the curves 43, 44 are clicked again, the curves 43, 44 are unselected, indicating that the user controls the first two nozzles of the agricultural unmanned aerial vehicle to be closed by the user interface; the same two of the agricultural unmanned aerial vehicles The operation of opening or closing the nozzle.
  • the two nozzles in front of the agricultural unmanned aerial vehicle are turned on; when the agricultural unmanned aerial vehicle is flying backward, the two nozzles behind the agricultural unmanned aerial vehicle are turned on.
  • the advantages of this arrangement are: the ability to increase the penetration of the spray, the proportion of the spray is a pesticide, and the spray object is a forest, which allows the pesticide sprayed from the agricultural unmanned aerial vehicle to penetrate the quilt of the leaves through the gap between the leaves. .
  • the two nozzles in front of the agricultural unmanned aerial vehicle can be turned on; when the agricultural unmanned aerial vehicle is flying forward, the two nozzles behind the agricultural unmanned aerial vehicle can be opened, and the user can change according to different The requirements are set.
  • the advantage of this arrangement is that it can avoid the effects of airflow, the speed of the agricultural UAV's own speed and/or wind speed on the spray.
  • the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle is set by the user more practically.
  • the setting of the correspondence is not limited to the method shown in FIG. 4, and may also be in the form of a dialog box, for example, a user interface.
  • a dialog box with heading settings and a dialog box for setting the direction of the nozzle is displayed, and the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle is established through two dialog boxes. Relationship, the user can manually enter the heading or nozzle direction in the dialog box, or click the list display button on the dialog box to select the heading or nozzle direction from the list.
  • the control method of the nozzle described in this embodiment is effective under the condition that the sliding button corresponding to the "smart nozzle opening" shown in FIG. 2 is opened, if the sliding button corresponding to the "smart nozzle opening" shown in FIG. 2 is In the closed state, the control method of the nozzle described in this embodiment is not effective.
  • the direction of the nozzle is controlled by the heading of the agricultural unmanned aerial vehicle, and the intelligent control of the nozzle is realized.
  • the corresponding relationship between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle is also in the operation of the agricultural unmanned aerial vehicle. Different benefits are generated, and the user can set the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle according to actual needs, thereby increasing the flexibility of the nozzle control.
  • FIG. 13 is a structural diagram of a ground control terminal according to an embodiment of the present invention.
  • the ground control terminal 130 includes a processor 131, and a memory 132 configured to store executable instructions of the processor 131.
  • the processor 131 is configured to: display a user interface; acquire control information input by the user on the user interface; determine, according to the control information, a job parameter of the agricultural unmanned aerial vehicle; and control according to the job parameter The agricultural unmanned aerial vehicle operates.
  • control information includes at least one of: spray flow control information, spray direction control information, flight speed control information, flight altitude control information, nozzle control information, route spacing control information, and safety distance control information; Wherein the safety distance is used to prevent the agricultural unmanned aerial vehicle from spraying the spray material outside the agricultural unmanned aerial vehicle working area.
  • the operation parameters include at least one of the following: spray flow rate, spray direction, flight speed, flight height, nozzle direction, route spacing, and safety distance.
  • the processor 131 is configured to: display at least one of the following on the user interface: an operation icon for controlling the spray flow;
  • the operation icon includes at least one of the following: a sliding icon, a rotating icon, and a click icon.
  • the operation icon is a sliding bar.
  • the processor 131 is configured to display at least one dialog box for inputting a spray flow value, a dialog box for inputting a flight speed value, and a dialog for inputting a fly height value on the user interface. Box; a dialog for entering the route spacing value; a dialog for entering a safe distance value.
  • the processor 131 is configured to: acquire control information input by the user on the user interface by operating the slider.
  • the processor 131 is configured to: determine, according to a sliding bar operated by the user, a working parameter of the agricultural unmanned aerial vehicle adjusted by the user; and determine a working parameter value of the agricultural unmanned aerial vehicle according to a progress value of the sliding bar .
  • the processor 131 is configured to: determine, according to a dialog box of the user input data, a job parameter of the agricultural unmanned aerial vehicle adjusted by the user; and determine, according to data input by the user in the dialog box, the agriculture The value of the operating parameters of the human aircraft.
  • ground control terminal The specific principles and implementation manners of the ground control terminal provided by the embodiment of the present invention are similar to the embodiments shown in FIG. 1 to FIG. 5, and details are not described herein again.
  • a user interface provided by the ground control terminal is provided, and a control icon of the operational parameter of the agricultural unmanned aerial vehicle can be set on the user interface, and the user can intuitively operate the control icon on the user interface, and the ground control end is based on the user.
  • the control information input by the user is determined, and the control information is specifically used to adjust the operating parameters of the agricultural unmanned aerial vehicle, that is, the user can intuitively operate the user interface to realize the operating parameters of the agricultural unmanned aerial vehicle.
  • the adjustment realizes that the user intuitively adjusts the operating parameters of the unmanned aerial vehicle through the ground control terminal.
  • Embodiments of the present invention provide a ground control terminal.
  • the processor 131 is configured to display at least one of the following on the user interface: a target area for identifying the agricultural unmanned aerial vehicle working area; a target line segment of a flight path of the agricultural unmanned aerial vehicle; a movable marker for identifying a heading of the agricultural unmanned aerial vehicle; a first marker point for identifying a first location of the agricultural unmanned aerial vehicle, and A second marker point for identifying a second location in which the agricultural unmanned aerial vehicle is located.
  • the processor 131 is configured to: acquire spray direction control information input by the user on the user interface by rotating the target area; or acquire a user at the user interface Spraying direction control information input by rotating the target line segment; or acquiring spray direction control information input by the user on the user interface by controlling the direction of the movable mark; or
  • the spray direction control information input by the user on the user interface by the operation of the first marker point and the second marker point is obtained.
  • the movable mark comprises an icon or a cursor.
  • the operation of the first marker point and the second marker point includes at least one of: sliding from the first marker point to the second marker point; sliding from the second marker point to The first mark point; first click on the first mark point, then click on the second mark point; first click on the second mark point, and then click on the first mark point.
  • the user interface includes at least one of the following: a target area for identifying an agricultural unmanned aerial vehicle working area, a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle, and used to identify the heading of the agricultural unmanned aerial vehicle. a movable marker for identifying a first marker point at which the agricultural unmanned aerial vehicle is located and a second marker point for identifying a second location of the agricultural unmanned aerial vehicle, such that the user passes the target area on the user interface
  • the rotation direction of the target line segment and the direction of the movable marker can be adjusted to adjust the spray direction of the agricultural unmanned aerial vehicle.
  • the user can also click on the left or right side of the connection between the first marker point and the second marker point. Or, for the operation of the first marking point and the second marking point, adjusting the spraying direction of the agricultural unmanned aerial vehicle, so that the user can conveniently and flexibly adjust the spraying direction of the agricultural unmanned aerial vehicle through the user interface.
  • Embodiments of the present invention provide a ground control terminal.
  • the agricultural unmanned aerial vehicle is equipped with a plurality of nozzles, and the respective nozzles are located at different positions of the agricultural unmanned aerial vehicle.
  • the processor 131 is configured to display, on the user interface, a graphic for identifying the agricultural unmanned aerial vehicle, the graphic for controlling a showerhead mounted on the agricultural unmanned aerial vehicle.
  • the processor 131 is configured to: acquire nozzle control information that the user inputs by operating the graphic on the user interface.
  • the nozzle control information includes at least one of the following: a nozzle opening control information, and a nozzle closing control information.
  • the processor 131 is further configured to display, at the user interface, a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle, the graphic being located at the target line segment.
  • the direction of the nozzle is controlled by the heading of the agricultural unmanned aerial vehicle, and the intelligent control of the nozzle is realized.
  • the corresponding relationship between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle is also in the operation of the agricultural unmanned aerial vehicle. Different benefits are generated, and the user can set the correspondence between the heading of the agricultural unmanned aerial vehicle and the direction of the nozzle according to actual needs, thereby increasing the flexibility of the nozzle control.
  • the embodiment of the present invention further provides a storage medium, where the program code is stored, and when the program code is running, a control method of the agricultural unmanned aerial vehicle is executed, and the specific principle and implementation manner of the control method are implemented by the foregoing method.
  • the methods described in the examples are similar and will not be described here.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in various embodiments of the present invention may be integrated into one processing order In the meta element, each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

L'invention concerne un procédé de commande d'un véhicule aérien sans pilote agricole, ainsi qu'une extrémité de commande au sol et un support d'informations. Le procédé consiste : à acquérir des informations de commande saisies par un utilisateur sur une interface utilisateur (S101) ; à déterminer, selon les informations de commande, un paramètre de fonctionnement d'un véhicule aérien sans pilote agricole (42) (S102) ; et selon le paramètre de fonctionnement, à commander le fonctionnement du véhicule aérien sans pilote agricole (42) (S103). Une extrémité de commande au sol (130) fournit une interface utilisateur sur laquelle des icônes de paramètres de fonctionnement réglables d'un véhicule aérien sans pilote agricole (42) sont établies en vue d'une opération intuitive d'un utilisateur sur les icônes de commande sur l'interface utilisateur, puis l'extrémité de commande au sol (130) détermine des informations de commande saisies par l'utilisateur en fonction de l'opération de l'utilisateur sur l'interface utilisateur, les informations de commande servant spécifiquement à régler les paramètres de fonctionnement du véhicule aérien sans pilote agricole (42), ce qui permet à l'utilisateur de régler intuitivement les paramètres de fonctionnement du véhicule aérien sans pilote agricole (42) au moyen de l'extrémité de commande au sol (130).
PCT/CN2016/107157 2016-11-24 2016-11-24 Procédé de commande de véhicule aérien sans pilote agricole, et terminal de commande au sol et support d'informations Ceased WO2018094670A1 (fr)

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CN202010993000.1A CN112099556B (zh) 2016-11-24 2016-11-24 农业无人飞行器的控制方法、地面控制端及存储介质
CN201680002760.3A CN106716288B (zh) 2016-11-24 2016-11-24 农业无人飞行器的控制方法、地面控制端
PCT/CN2016/107157 WO2018094670A1 (fr) 2016-11-24 2016-11-24 Procédé de commande de véhicule aérien sans pilote agricole, et terminal de commande au sol et support d'informations

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