CN106714554A - Spraying control method of drone and drone - Google Patents
Spraying control method of drone and drone Download PDFInfo
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- CN106714554A CN106714554A CN201680002635.2A CN201680002635A CN106714554A CN 106714554 A CN106714554 A CN 106714554A CN 201680002635 A CN201680002635 A CN 201680002635A CN 106714554 A CN106714554 A CN 106714554A
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- 238000000034 method Methods 0.000 title claims abstract description 122
- 238000005507 spraying Methods 0.000 title claims abstract description 72
- 239000007921 spray Substances 0.000 claims abstract description 180
- 239000003814 drug Substances 0.000 claims abstract description 31
- 229940079593 drug Drugs 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 160
- 230000007423 decrease Effects 0.000 claims description 69
- 238000000926 separation method Methods 0.000 claims description 28
- 230000005856 abnormality Effects 0.000 claims description 17
- 230000033228 biological regulation Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 239000000126 substance Substances 0.000 abstract description 19
- 239000007788 liquid Substances 0.000 description 8
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- 230000001960 triggered effect Effects 0.000 description 4
- 239000003905 agrochemical Substances 0.000 description 3
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- 239000000575 pesticide Substances 0.000 description 2
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a spraying control method of a drone. The method comprises steps of acquiring a flight distance from a spraying start point to a termination point in a specific region of the drone; selecting one of following two parameters: the flight speed and the spraying flow speed of the drone; if the flight speed is selected, calculating the spraying flow speed according to total quantity of substances that the drone needs to spray, the selected spraying flow speed and the flight distance; and if the spraying flow speed is selected, calculating the flight speed according to the total quantity of substances that the drone needs to spray, the selected spraying flow speed and the flight distance. According to the invention, problems can be avoided that drugs have been used up while the drone has not finished the crop spraying in a certain region caused by improper flight speed and improper spraying flow speed which are easily caused by the fact that an operator simultaneously sets the flight speed and the spraying flow speed, or too many drugs have been left over since the drone has finished operation in the certain region in advance.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to unmanned plane sprinkling control method and unmanned plane.
Background technology
In recent years, agricultural modernization and precision agriculture constantly advance, and farm machinery develops into agricultural modernization
There is provided great convenience.Power tool based on unmanned aerial vehicle for agricultural modernization provide efficiently, easily operational method.
The spraying operation of unmanned plane in the prior art, typically manipulator set flying speed and sprinkling flow velocity, but
If it is improper that flying speed and sprinkling flow velocity are set, often result in unmanned plane and also some region of crop has not been sprayed
Finish, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule to some region of operation, but medicine also has a large amount of residues；Or
The problems such as herbal sprinkling is not uniform enough.
The content of the invention
For drawbacks described above of the prior art, the present invention provides a kind of method and comes for solving manipulator in the prior art
Flying speed and sprinkling flow velocity are set, if flying speed is improper with what sprinkling flow velocity was set, often resulting in unmanned plane does not have also
It is sprayed to some region of crop, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule to some region of operation, but
Medicine also has a large amount of residues；Or herbal sprinkling it is not uniform enough the problems such as.
The first aspect of the invention is to provide a kind of sprinkling control method of unmanned plane, including：
Obtain flying distance of the unmanned plane in the sprinkling starting point to the end of specific region；
Choose one of following two parameters：The flying speed of unmanned plane and the sprinkling flow velocity of unmanned plane；
If what is chosen is flying speed, the material total amount sprayed, the flying speed of selection is needed according to unmanned plane and is obtained
The flying distance for obtaining calculates sprinkling flow velocity；
If what is chosen is sprinkling flow velocity, the material total amount sprayed, the sprinkling flow velocity of selection is needed according to unmanned plane and is obtained
The flying distance for obtaining calculates flying speed.
The second aspect of the invention provides a kind of unmanned plane, including：
One or more processor, single or collaboration work, the processor is used for：
Obtain flying distance of the unmanned plane in the sprinkling starting point to the end of specific region；
Choose one of following two parameters：The flying speed of unmanned plane and the sprinkling flow velocity of unmanned plane；
If what is chosen is flying speed, the material total amount sprayed, the flying speed of selection is needed according to unmanned plane and is obtained
The flying distance for obtaining calculates sprinkling flow velocity；
If what is chosen is sprinkling flow velocity, the material total amount sprayed, the sprinkling flow velocity of selection is needed according to unmanned plane and is obtained
The flying distance for obtaining calculates flying speed.
The present invention provide unmanned plane sprinkling control method and unmanned plane, can according to material total amount, flying distance and
Flying speed calculate matching sprinkling flow velocity, or according to material total amount, flying distance and sprinkling flow velocity come calculate matching fly
Scanning frequency degree, thereby may be ensured that carrying out sprinkling under the sprinkling flow velocity and the flying speed can finish substance splash, and
Uniform sprinkling, and then can avoid manipulator that flying speed and the sprinkling that flying speed and sprinkling flow velocity are easily caused are set simultaneously
Unmanned plane caused by flow velocity is improper is not also sprayed to some region of crop, and medicine has been used up；Or nothing
It is man-machine to fulfil ahead of schedule to some region of operation, but medicine also has a large amount of remaining problems.
Additionally, on the basis of above-mentioned one side, the sprinkling control method of the unmanned plane that the present invention is provided also is wrapped
Include：
Flying speed of the adjustment unmanned plane in flight course, the sprinkling flow velocity adjust automatically of unmanned plane；
Or, sprinkling flow velocity of the adjustment unmanned plane in flight course, the flying speed adjust automatically of unmanned plane.
On the basis of above-mentioned second aspect, the unmanned plane that the present invention is provided, processor is additionally operable to：
Flying speed of the adjustment unmanned plane in flight course, the sprinkling flow velocity adjust automatically of unmanned plane；
Or, sprinkling flow velocity of the adjustment unmanned plane in flight course, the flying speed adjust automatically of unmanned plane.
The sprinkling control method and unmanned plane of the unmanned plane that the present invention is provided, can be when flying speed be adjusted, self adaptation
Adjustment spray rate, or adjust spray rate when, the adjustment flying speed of self adaptation, so that the sprinkling of unmanned plane
Uniformly.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention one is provided；
A kind of flight path provided in the sprinkling control method of the unmanned plane that Figure 1A is provided for the embodiment of the present invention one
Schematic diagram
Fig. 2 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention two is provided；
Fig. 3 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention three is provided；
Fig. 4 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention four is provided；
Fig. 5 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention five is provided；
Fig. 6 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention six is provided；
Fig. 6 A are spray angle, the relation signal between lateral separation and spraying altitude that the embodiment of the present invention six is provided
Figure；
Fig. 6 B are another spray angle, the relation between lateral separation and spraying altitude that the embodiment of the present invention six is provided
Schematic diagram；
Fig. 7 is the structural representation of the unmanned plane that the embodiment of the present invention eight is provided；
Fig. 8 is the structural representation of the unmanned plane that the embodiment of the present invention nine is provided；
Fig. 9 is the structural representation of the unmanned plane that the embodiment of the present invention ten is provided.
Specific embodiment
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
It is described below be given be in order that any person skilled in the art can manufacture and use the embodiment, and
And provided under the background of application-specific and its demand.To the various modifications of disclosed embodiment to those skilled in the art
For will become apparent, and, in the case of without departing substantially from the spirit and scope of given present disclosure, determine here
The general principle of justice may apply to other embodiments and application.Thus, the invention is not restricted to shown embodiment, but
Meet the widest scope consistent with principle disclosed herein and feature.
Data structure and code described in specific embodiment part of the invention are typically stored at computer-readable
On storage medium, the storage medium can store the code that is used by computer system and/or any of data sets
Standby or medium.Computer-readable recording medium is included but is not limited to：Volatile memory, nonvolatile memory, magnetically and optically deposit
Storage equipment (disk drive, tape, CD (CD), DVD (digital versatile disc or digital video disc) etc.) or now
Know or Future Development other media for being capable of store code and/or data.
Method and process described in specific embodiment part of the invention can be presented as code and/or data,
These codes and/or data can be stored in computer-readable recording medium as described above.When computer system reads simultaneously
When performing the code and/or data stored on computer-readable recording medium, computer system is performed and is presented as data structure
With code and storage method and process in a computer-readable storage medium.
Additionally, during method and process as described herein may be embodied in hardware module or device.These modules or device
Can include but is not limited to：Application specific integrated circuit (ASIC) chip, field programmable gate array (FPGA), particular moment perform
The special or shared processor of specific software module or one section of code, and/or it is currently known or Future Development other may be programmed
Logical device.When the hardware module or device are activated, they perform the method and process being included therein.
Embodiment one
Fig. 1 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention one is provided, as shown in figure 1,
The sprinkling control method of the unmanned plane, the specific region to ground carries out spraying operation, including：
Step 101, obtains flying distance of the unmanned plane in the sprinkling starting point to the end of specific region.
Wherein, the flying distance can be by global position system GPS (Global Positioning System, abbreviation
GPS) obtain.For example sprinkling starting point to end it is determined that spraying the gps coordinate of starting point and sprinkling terminal, and then can be obtained by GPS
The flying distance of point.
Or, the flying distance can also be prestored.For example, according to the specific region, can be pre- in unmanned plane
Flight path is first provided with, flight path includes：The transverse direction that sprinkling starting point, sprinkling terminal, unmanned plane unit interval need to spray
Distance and the fore-and-aft distance of unmanned plane unit period domestic demand sprinkling.Unmanned plane so according to default flight path obtain spray
Point flying distance to terminal.
A kind of flight path provided in the sprinkling control method of the unmanned plane that Figure 1A is provided for the embodiment of the present invention one
Schematic diagram, it is necessary to explanation, Figure 1A be it is exemplary provide a kind of flight path, but flight path is not limited thereto
System, the present embodiment is illustrated by taking Figure 1A as an example for lateral separation and fore-and-aft distance.
Wherein, A points are sprinkling starting point, and B points are sprinkling terminal, wherein, the direction vector of the line of A points and B points is defined as
Laterally, the direction vector vertical with A points and B point lines direction is defined as longitudinal direction.In figure ia, A points and the line of D points are longitudinal direction
The distance that distance, i.e. unmanned plane are flown in a longitudinal direction in one cycle.Lateral separation is referred to ought be in a longitudinal direction
During flight, the distance of unmanned plane unit interval required covering in a lateral direction, as lateral separation, in figure ia, example
Property give when longitudinal direction flight of the unmanned plane along AD lines, L be the unmanned plane unit interval need sprinkling horizontal stroke
To distance.Wherein, flight path when lateral separation can be sprayed according to unmanned plane is determined, or, unmanned plane can be with root
Lateral separation and fore-and-aft distance and sprinkling starting point, sprinkling terminal are pre-entered according to operator, flight path is planned.
In addition, unit period refers to unmanned plane when being sprayed with periodic track, along longitudinal direction in a cycle
The distance of direction flight, A points to C points are a cycle in figure, and C points to B points are a cycle, then fore-and-aft distance refers to A
The distance between point and D points.
Step 102, chooses one of following two parameters：The flying speed of unmanned plane and the spray flow of unmanned plane
Speed.
A kind of mode of specific Selecting All Parameters is：By reception pattern selection instruction, it is determined that the parameter chosen, wherein,
Mode selection command includes the parameter information chosen.
Step 1031, if what is chosen is sprinkling flow velocity, the material total amount for needing sprinkling according to unmanned plane, the sprinkling chosen
Flow velocity and flying distance calculate flying speed.
Specifically, the sprinkling flow relocity calculation flying speed according to material total amount, flying distance and selection.As long as ensureing
In the flying distance, material is used up and is sprayed uniform.
After flying speed is calculated, then unmanned plane is controlled in the spray rate of setting and the flight being calculated speed
Sprayed under degree.
Step 1032, if what is chosen is flying speed, the material total amount sprayed, the flight chosen is needed according to unmanned plane
Speed and flying distance calculate sprinkling flow velocity.Specifically, for example, being the complete of unmanned plane carrying if necessary to the material total amount of sprinkling
Portion's material total amount, the then flying speed of material total amount, flying distance and the selection sprayed as needed calculates sprinkling flow velocity, only
Ensure in the flying distance, material is used up and is sprayed uniform.
It should be noted that need the material total amount of sprinkling not to be equal to the total material total amount that unmanned plane is carried necessarily,
Can be any number that user sets in advance, such as：1/2 or 2/3 etc. of the total material total amount that unmanned plane is carried.But,
The material total amount for needing sprinkling is preferred scheme equal to the total material total amount that unmanned plane is carried, because this flight can be reduced
The inactive loads of unmanned plane, reach the flying power energy (such as：Battery electric quantity) maximization that utilizes.To avoid repeating, this hair
Embodiment in bright is described so that the material total amount for needing sprinkling is equal to the total material total amount that unmanned plane is carried as an example, but this
It is not meant to present invention eliminates reality of the material total amount less than the total material total amount that unmanned plane is carried that other need sprinkling
Apply scheme.After sprinkling flow velocity is calculated, then unmanned plane is controlled in the flying speed chosen and the sprinkling being calculated
Sprayed under flow velocity.
Optionally, it is necessary to the material total amount of sprinkling can be prestored, for example, if unmanned plane can only install one
The spray assembly of type and fixed qty, then material total amount can be prestored.
Certainly, it is necessary to the material total amount of sprinkling can also be by user input, for example, can be carried out by display screen defeated
Enter.
Or, it is also possible to by the automatic material total amount for obtaining the material total amount determination needs sprinkling that unmanned plane is carried, example
Such as can be by installing corresponding weight sensor, when spray assembly is mounted on unmanned plane, processor can be obtained automatically
Take the information of the material total amount of unmanned plane carrying.Certainly, the automatic material total amount for obtaining unmanned plane carrying is not restricted to adopt
It is only to provide a kind of example in the present embodiment, but be not limited thereto system with the mode of gravity sensor.On this basis,
The total material total amount that can be carried according to unmanned plane determines to need the material total amount of sprinkling.For example, if user sets in advance
The 1/2 of the fixed total material total amount for needing the material total amount of sprinkling to be carried for unmanned plane, then can be total according to total material
As long as amount determines that material total amount to be sprayed is the 1/2 of total material total amount.It should be noted that needing the material of sprinkling
Can be any one or more form in solid, liquid, gas, for example, the material of sprinkling can be the agriculture of liquid form
Medicine or water, the seed of solid forms, the agricultural chemicals of gas form etc..Certainly, the material of sprinkling can also be solid-state, liquid, gas
The material of any two or three mixing of state.
The present embodiment provide unmanned plane sprinkling control method, unmanned plane can according to material total amount, flying distance and
Flying speed calculate matching sprinkling flow velocity, or according to material total amount, flying distance and sprinkling flow velocity come calculate matching fly
Scanning frequency degree, thereby may be ensured that carrying out sprinkling under the sprinkling flow velocity and the flying speed can finish substance splash, and
Uniform sprinkling, and then can avoid manipulator that flying speed and the sprinkling that flying speed and sprinkling flow velocity are easily caused are set simultaneously
Unmanned plane caused by flow velocity is improper is not also sprayed to some region of crop, and medicine has been used up；Or nothing
It is man-machine to fulfil ahead of schedule to some region of operation, but medicine also has a large amount of remaining problems.
Embodiment two
The present embodiment is further explained explanation on the basis of the embodiment one shown in Fig. 1 to step 1031.Fig. 2
It is the schematic flow sheet of the sprinkling control method of the unmanned plane of the offer of the embodiment of the present invention two, as shown in Fig. 2 in sprinkling control
In method, if specifically, choose be sprinkling flow velocity, according to the unmanned plane need sprinkling (the following implementations of material total amount
Example in abbreviation material total amount), choose sprinkling flow velocity and the flying distance calculate flying speed, including：
Step 10311, obtains the sprinkling flow velocity chosen.
Specifically, the sprinkling flow velocity chosen can be arranged and stored in the processor of unmanned plane.
Or, can automatically be corresponded to according to the type of spray assembly, specifically, can be by obtaining what is installed on unmanned plane
The type information of spray assembly, the further type information according to the spray assembly for prestoring and the corresponding pass for spraying flow velocity
System determines the sprinkling flow velocity chosen.
For example, unmanned plane can be provided with sensor to obtain sprinkling in corresponding spray assembly installed position
The type information of component.For example, each spray assembly installation place is both provided with sensor, each sensor has one a pair
The mark answered, the mount message of spray assembly corresponding with the sensor is detected by sensor, when sensor has recognized spray
Spill component to be attached to when on unmanned plane, then the mark of itself, the mark that processor is sent by identification sensor are sent to processor
Knowledge information, and spray assembly is identified what type of with the corresponding relation of spray assembly signal according to the identification information for prestoring
It is mounted.Wherein, the type of sensor is not limited, for example, can be gravity sensor, or optical sensing
Device, pressure sensor, flow rate of liquid sensor etc..
Optionally, the sprinkling flow velocity of selection can also flow velocity input component send.For example, a kind of application scenarios are, behaviour
Author triggers flow velocity input component, and then flow velocity input component sends input instruction, after the input instruction is received, is referred to according to the input
Order determines to choose sprinkling flow velocity.
Wherein, optionally, it can also be multiple that flow velocity input component can be one.Wherein, when flow velocity input component is one
When, that is, the sprinkling flow velocity chosen is that when being sent by a flow velocity input component, processor can be by detecting flow velocity input component quilt
The time of triggering recognizes sprinkling flow velocity corresponding with the triggered time.
If flow velocity input component is for multiple, each flow velocity input component can send corresponding sprinkling flow velocity.Such as flow velocity input
Part can be 4, accordingly, can sprinkling flow velocity corresponding with first flow velocity input component when 30 milliliters/seconds, second flow velocity be defeated
It is 40 milliliters/seconds to enter the corresponding sprinkling flow velocity of part, and the corresponding sprinkling flow velocity of the 3rd flow velocity input component is 50 milliliters/seconds, the 4th
The corresponding flow velocity that sprays of individual flow velocity input component is 60 milliliters/seconds., wherein it is desired to explanation, the milliliter number in the present embodiment is
Exemplary numeral, but it is not limited thereto system.
Wherein, flow velocity input component can be arranged on unmanned plane or be arranged on the remote control of unmanned plane.
In addition, flow velocity input component includes：In driving switch, rotary switch, potentiometer, straight line switch, touch display screen
It is any one or more.
To sum up, the sprinkling flow velocity of selection comes from any one of following three kinds of modes：It is prestoring, according to sprinkling group
The type of part it is automatic it is corresponding, sent by flow velocity input component.
Step 10322, spraying time is obtained according to the sprinkling flow velocity and material total amount chosen.
Specifically, spraying time can be determined divided by the sprinkling flow velocity chosen by material total amount.
Step 10333, the first flying speed is calculated according to flying distance and spraying time.
Further, flying distance can determine the first flying speed divided by spraying time.
Step 10334, using the first flying speed as current flying speed.
Further, unmanned plane can be controlled to be sprayed under current flying speed and the sprinkling flow velocity chosen.
The method is due to the first flight speed determined by material total amount and flying distance and the sprinkling flow velocity of selection
Degree, it may therefore be assured that can be sprayed material when sprinkling terminal is reached under the sprinkling flow velocity and the first flying speed chosen
Spill and finish, and uniformly spray.
The present embodiment provide unmanned plane sprinkling control method, unmanned plane can according to according to material total amount, flight away from
From the first flying speed of matching is calculated with sprinkling flow velocity, thereby may be ensured that in the sprinkling flow velocity chosen and the first flight speed
Sprinkling is carried out under degree can be finished substance splash, and uniformly be sprayed, and then manipulator can be avoided to set flight speed simultaneously
Flying speed and spray the improper caused unmanned plane of flow velocity also not to a certain region that degree and sprinkling flow velocity are easily caused
Crop it is sprayed, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule and also had greatly to some region of operation, but medicine
Measure remaining problem.
Embodiment three
The present embodiment is further explained explanation on the basis of the embodiment one shown in Fig. 1 to step 1032.Fig. 3
It is the schematic flow sheet of the sprinkling control method of the unmanned plane of the offer of the embodiment of the present invention three, as shown in figure 3, the sprinkling controlling party
In method, if choose be flying speed, according to unmanned plane need sprinkling material total amount, choose flying speed and flight away from
Flow velocity is sprayed from calculating, including：
Step 10321, obtains the flying speed chosen.
The flying speed of selection comes from any one of following three kinds of modes：It is prestoring or by speed be input into
What part sent.
Wherein, if the flying speed chosen is sent by speed input component, optionally, speed input component can be many
Individual, each speed input component can send the information of corresponding flying speed.
Certainly, speed input component can also be one, and when speed input component is one, that is, the flying speed chosen is logical
When crossing a flow velocity input component and sending, when the time that processor can be triggered by detection speed input component is to recognize and trigger
Between corresponding flying speed.
Optionally, speed input component includes：In driving switch, rotary switch, potentiometer, straight line switch, touch display screen
It is any one or more.
Speed input component can be arranged on unmanned plane, or is arranged on the remote control of unmanned plane.
Step 10322, spraying time is obtained according to the flying speed and flying distance chosen.
Specifically, spraying time can be determined divided by the flying speed chosen by flying distance.
Step 10333, calculates first and sprays flow velocity according to material total amount and spraying time.
Further, the first sprinkling flow velocity is determined divided by spraying time by material total amount.
Step 10334, using the first spray rate as current sprinkling flow velocity.
Further, unmanned plane can be controlled to be sprayed under current sprinkling flow velocity and the flying speed chosen.
According to the first sprinkling flow velocity that the method determines, it is ensured that under the flying speed chosen and the first sprinkling flow velocity
Substance splash can be finished when sprinkling terminal is reached, and uniformly sprayed.
, it is necessary to explanation, in a step 102, chooses unmanned plane on the basis of above-described embodiment one to embodiment three
Flying speed or unmanned plane sprinkling flow velocity when, can by reception pattern selection instruction determine choose parameter, pattern
Selection instruction includes the parameter information chosen.I.e. the unmanned plane can be selected including both of which, during one kind is step 1031
Calculating sprinkling flow velocity pattern, a kind of is the pattern of the calculating flying speed in step 1032.
When unmanned plane possesses above two pattern, then unmanned plane can simultaneously have flow velocity input component and speed to be input into
Part.
The present embodiment provide unmanned plane sprinkling control method, unmanned plane can according to material total amount, flying distance and
The flying speed of selection calculates the first spray rate of matching, thereby may be ensured that in the first sprinkling flow velocity and the flight chosen
Sprinkling is carried out under speed so as to substance splash be finished, and is uniformly sprayed, and then manipulator can be avoided while setting flight
Flying speed and spray the improper caused unmanned plane of flow velocity also not to a certain area that speed and sprinkling flow velocity are easily caused
The crop in domain is sprayed, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule and also had to some region of operation, but medicine
A large amount of remaining problems.
Example IV
Fig. 4 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention four is provided, as shown in figure 4,
On the basis of the embodiment shown in Fig. 1, the sprinkling control method of the unmanned plane includes：
Step 401, obtains flying distance of the unmanned plane in the sprinkling starting point to the end of specific region.
Step 402, chooses one of following two parameters：The flying speed of unmanned plane and the spray flow of unmanned plane
Speed.
Step 4031, if what is chosen is sprinkling flow velocity, the material total amount, selection according to unmanned plane needs sprinkling
Sprinkling flow velocity and flying distance calculate flying speed.
Step 4032, if what is chosen is flying speed, the material total amount sprayed, the flight chosen is needed according to unmanned plane
Speed and flying distance calculate sprinkling flow velocity.
Wherein, step 401, step 402, step 4031 and step 4032 specific embodiment are referred to embodiment one
Step 101, step 102, step 1031 and step 1032 into embodiment three, will not be repeated here.
Step 4041, flying speed of the adjustment unmanned plane in flight course, the sprinkling flow velocity adjust automatically of unmanned plane.
Wherein, flying speed of the adjustment unmanned plane in flight course can be unmanned plane adjust automatically, and then to adjust
Sprinkling flow velocity, for example, unmanned plane can in real time obtain current wind speed information, flies fast according to current wind speed adjust automatically
Degree, further, flow velocity is sprayed according to flying speed adjust automatically.
Or, it is also possible to flying speed is adjusted by receiving speed input instruction, and then adjusts spray rate.
Wherein, flying speed is adjusted by receiving speed command and then spray rate is adjusted can include following two realities
Apply mode.
The first implementation method includes：
Step 40411, receives speed input instruction, and speed input instruction includes the information of the second flying speed.
Step 40412, the information according to the second flying speed adjusts flying speed of the unmanned plane in flight course.
Specifically, the flying speed of current unmanned plane is obtained, if current flying speed is equal with the second flying speed,
The current flying speed of holding is constant.If current flying speed is unequal with the second flying speed, control unmanned plane is the
Flown under two flying speeds.
It should be noted that step 40412 and step 40413, step 40414, step 40415, the execution of step 40416
Sequencing is not limited, i.e., step 40412 can be performed before those steps, it is also possible to be held after those steps
OK.It is of course also possible to perform simultaneously.
Step 40413, obtains remaining flying distance and surplus materials total amount to be sprayed.
Wherein, remaining flying distance to be sprayed refers to the flying distance of sprinkling starting point to the end and subtracts and sprayed
Distance value, as remaining flying distance to be sprayed.Surplus materials total amount refers to material total amount and subtracts what is sprayed
The value of the amount of material, as surplus materials total amount.
Certainly, if also being sprayed, under conditions of a kind of extreme, remaining flying distance to be sprayed with spray
Point flying distance to terminal, surplus materials total amount is material total amount.
Step 40414, remaining spraying time is determined according to remaining flying distance to be sprayed and the second flying speed.
Specifically, determining remaining spraying time divided by the second flying speed by remaining flying distance to be sprayed.
Step 40415, the second sprinkling flow velocity is determined according to surplus materials total amount and remaining spraying time.
Specifically, determining the second sprinkling flow velocity divided by remaining spraying time according to surplus materials total amount.
Step 40416, according to the whole current sprinkling flow velocity of the second spray flow velocity modulation.
Specifically, obtaining current sprinkling flow velocity, it is the second sprinkling flow velocity to adjust current sprinkling flow velocity.
According to the second sprinkling flow velocity that the implementation method determines, it is ensured that in the second flying speed and the second sprinkling flow velocity
Under substance splash can be finished when sprinkling terminal is reached, and uniformly spray.
Second implementation method includes：
Step 40417, receives speed input instruction.
Step 40418, adjusts flying speed of the unmanned plane in flight course, and determine nobody according to speed input instruction
The percentage of machine flying speed increase and decrease.
Wherein, the percentage of unmanned plane fluctuation of speed can be included in speed input instruction, thus can be directly according to speed
Degree input instruction obtains the percentage of unmanned plane fluctuation of speed, further, current flying speed can be obtained, according to current
Flying speed and flying speed increase and decrease percentage adjustment flying speed of the unmanned plane in flight course.For example, if
Current flying speed is 5 meter per seconds, and to increase by 20%, then the flying speed for adjusting unmanned plane is 6 to the percentage of fluctuation of speed
Meter per second.
Or, speed input instruction includes unmanned plane flying speed to be adjusted, then can obtain current flight speed
Degree, unmanned plane is adjusted to flying speed to be adjusted.Further, can be according to flying speed to be adjusted and current
Flying speed determine the percentage of unmanned plane during flying fluctuation of speed.
Step 40419, the percentage Serial regulation increased and decreased according to flying speed sprays the increase and decrease percentage of flow velocity.
Step 40420, obtains current sprinkling flow velocity, and the increase and decrease percentage according to sprinkling flow velocity adjusts current spray flow
Speed, wherein, the increase and decrease proportional of the increase and decrease and the unmanned plane speed for spraying flow velocity.
In the prior art, for example, when the flying speed for adjusting unmanned plane increases, if not adjusting spray flow speed,
The sprinkling flow velocity of shower nozzle is constant, because the flying speed of unmanned plane becomes big, is shortened equivalent to the time for resting on unit distance, then
The material mass being sprayed of unit distance is sprayed to compared with before speed adjustment, certainly will be diminished, before causing speed to adjust
After speed adjustment, sprinkling material is uneven.
It is uniform in order to realize sprinkling, it is preferred that when flying speed increases in the present embodiment, i.e., equivalent to resting on list
The time of position distance becomes in short-term, little with the mass difference of the material that unit distance is sprayed to before speed adjustment in order to ensure, then
Accordingly increase sprinkling flow velocity；And when flying speed reduces, that is, rest on unit distance time it is elongated when, then corresponding control
System sprinkling flow velocity also reduces, you can with the current sprinkling flow velocity of the linear adjustment of the increase and decrease percentage according to sprinkling flow velocity.
Preferably, in order to further ensure that the substance splash of sprinkling will be needed to finish in flying distance, flying speed
The percentage of increase and decrease is equal with the increase and decrease percentage of sprinkling flow velocity, and sprays the increase and decrease of flow velocity and the increasing of unmanned plane during flying speed
Subtract proportional.When even flying speed increases by 20%, corresponding sprinkling flow velocity also increases by 20%.
Wherein it should be noted that above-mentioned the first implementation method and second implementation method in the present embodiment are required to
Performed after step 4031 or step 4032.But specifically, second implementation method can be in the first implementation method
It is performed afterwards.Or, second implementation method can also be performed before the first implementation method.Or, two kinds of embodiment party
Formula can also only have one kind to be performed.
In addition, in above two implementation method, speed input instruction can be sent by speed input component, speed input
Part can be identical with the speed input component in above-described embodiment two and embodiment three, specifically refer to above-described embodiment two and implements
Example three, will not be repeated here.
The sprinkling control method of the unmanned plane provided in the present embodiment, when unmanned plane adjusts flight speed during flight
When spending, sprinkling flow velocity can be accordingly adjusted, realize that sprinkling is uniform.
Embodiment five
Fig. 5 is the schematic flow sheet of the sprinkling control method of the unmanned plane that the embodiment of the present invention five is provided, as shown in figure 5,
On the basis of the embodiment shown in Fig. 1, the sprinkling control method of the unmanned plane includes：
Step 501, obtains flying distance of the unmanned plane in the sprinkling starting point to the end of specific region.
Step 502, chooses one of following two parameters：The flying speed of unmanned plane and the spray flow of unmanned plane
Speed.
Step 5031, if what is chosen is sprinkling flow velocity, the material total amount, selection according to unmanned plane needs sprinkling
Sprinkling flow velocity and flying distance calculate flying speed.
Step 5032, if what is chosen is flying speed, the material total amount sprayed, the flight chosen is needed according to unmanned plane
Speed and flying distance calculate sprinkling flow velocity.
Wherein, step 501, step 502, step 5031 and step 5032 specific embodiment are referred to embodiment one
Step 101, step 102, step 1031 and step 1032 into embodiment three, will not be repeated here.
Step 5041, sprinkling flow velocity of the adjustment unmanned plane in flight course, the flying speed adjust automatically of unmanned plane.
Wherein, sprinkling flow velocity of the adjustment unmanned plane in flight course can be unmanned plane adjust automatically, or, it is also possible to
Flying speed is adjusted by receiving flow velocity input instruction.
Wherein, sprinkling flow velocity is adjusted by receiving flow rate command, and then adjust automatically flying speed can be by following
Two kinds of implementation methods are realized.
The first implementation method：
Step 50411, receives flow velocity input instruction, and flow velocity input instruction includes the information of the 3rd sprinkling flow velocity.
Step 50412, the information according to the 3rd sprinkling flow velocity adjusts sprinkling flow velocity of the unmanned plane in flight course.
Specifically, obtaining current sprinkling flow velocity, if current sprinkling flow velocity is equal with the 3rd sprinkling flow velocity, keep working as
Preceding sprinkling flow velocity is constant；If current sprinkling flow velocity is unequal with the 3rd sprinkling flow velocity, control unmanned plane is in the 3rd sprinkling
Sprayed under flow velocity.
Step 50413, obtains remaining flying distance and surplus materials total amount to be sprayed.
Step 50414, remaining spraying time is determined according to surplus materials total amount and the 3rd sprinkling flow velocity.
Specifically, determining remaining spraying time divided by the 3rd sprinkling flow velocity by surplus materials total amount.
Step 50415, the 3rd flying speed is determined according to remaining flying distance to be sprayed and remaining spraying time.
Specifically, remaining flying distance to be sprayed determines the 3rd flying speed divided by remaining spraying time.
Step 50416, current flying speed is adjusted according to the 3rd flying speed.
Specifically, obtaining current flying speed, it is the 3rd flying speed to adjust current flying speed.
According to the 3rd flying speed that the implementation method determines, it is ensured that in the 3rd flying speed and the 3rd sprinkling flow velocity
Under substance splash can be finished when sprinkling terminal is reached, and uniformly spray.
Second implementation method：
Step 50417, receives flow velocity input instruction.
Step 50418, adjusts sprinkling flow velocity of the unmanned plane in flight course, and determine according to the flow velocity input instruction
The percentage of sprinkling flow velocity increase and decrease.
Wherein, the percentage of flow velocity increase and decrease can be included in flow velocity input instruction, thus directly can be input into according to flow velocity
Instruction obtains spraying the percentage of flow velocity increase and decrease, further, can be increased and decreased according to current sprinkling flow velocity and sprinkling flow velocity
Percentage adjusts sprinkling flow velocity of the unmanned plane in flight course.For example, if current sprinkling flow velocity is 50 milliliters/seconds,
To increase by 20%, then the flying speed for adjusting unmanned plane is 60 milliliters/seconds to the percentage of sprinkling flow velocity increase and decrease.
Or, flow velocity input instruction includes unmanned plane spray rate to be adjusted, then can be according to current sprinkling speed
Degree and spray rate to be adjusted determine the percentage of unmanned plane spray rate increase and decrease.
Step 50419, the increase and decrease percentage of the percentage Serial regulation flying speed increased and decreased according to flow velocity.
Step 50420, obtains current flying speed, and the increase and decrease percentage according to flying speed adjusts current flight speed
Degree, wherein, the increase and decrease of the flying speed is proportional with the increase and decrease of the sprinkling flow velocity.
In the prior art, for example, if the sprinkling flow velocity of adjustment unmanned plane increases, if not adjusting flying for unmanned plane
Scanning frequency degree, i.e. flying speed keep constant, because the sprinkling flow velocity of unmanned plane becomes big, equivalent to rest on unit distance it is same when
Between under conditions of, the material mass being sprayed for being sprayed to unit distance certainly will increase, compared with before spray flow velocity modulation is whole, sprinkling
Amount difference to the material of unit distance becomes big, i.e., for the specific region on ground, the material of sprinkling is uneven.
In the present embodiment, in order to realize that sprinkling is uniform, it is preferred that when flow velocity increase is sprayed, i.e., equivalent to the unit interval
The flow increase of unit length is inside sprayed to, in order to ensure compared with before spray flow velocity modulation is whole, to be sprayed to the material of unit distance
Fountain height difference less, then corresponding increase flying speed；And when spray rate reduces, then it is corresponding to control flying speed
Also reduce, you can the increase and decrease percentage of the percentage Serial regulation flying speed to be increased and decreased according to flow velocity.
Preferably, in order to further ensure that the substance splash of sprinkling will be needed to finish in flying distance, flow velocity is sprayed
Increase and decrease percentage with sprinkling flow velocity increase and decrease percentage it is equal, and the increase and decrease of flying speed and it is described sprinkling flow velocity increasing
Subtract proportional.
Wherein it should be noted that above-mentioned the first implementation method and second implementation method in the present embodiment are required to
Performed after step 5031 or step 5032.Optionally, second implementation method can be after the first implementation method
It is performed.Or, second implementation method can also be performed before the first implementation method.Or, two kinds of implementation methods
Can only have one kind to be performed.
In addition, in above two implementation method, flow velocity input instruction can be sent by flow velocity input component, flow velocity input
Part can be identical with the flow velocity input component in above-described embodiment two and embodiment three, specifically refer to above-described embodiment two and implements
Example three, will not be repeated here.
The sprinkling control method of the unmanned plane provided in the present embodiment, when unmanned plane adjusts spray flow during flight
When fast, flying speed can be accordingly adjusted, realize that sprinkling is uniform.
Embodiment six
On the basis of above-described embodiment one to embodiment five, flight of the present embodiment to unmanned plane when spraying is high
Degree is further explained explanation.Fig. 6 is that the flow of the sprinkling control method of the unmanned plane that the embodiment of the present invention six is provided is illustrated
Figure, as shown in fig. 6, the method includes：
Step 601, obtains flying distance of the unmanned plane in the sprinkling starting point to the end of specific region.
Step 602, chooses one of following two parameters：The flying speed of unmanned plane and the spray flow of unmanned plane
Speed.
Step 6031, if what is chosen is sprinkling flow velocity, the material total amount, selection according to unmanned plane needs sprinkling
Sprinkling flow velocity and flying distance calculate flying speed.
Step 6032, if what is chosen is flying speed, the material total amount sprayed, the flight chosen is needed according to unmanned plane
Speed and flying distance calculate sprinkling flow velocity.
Wherein, step 601, step 602, step 6031, step 6032 specific embodiment are referred to embodiment one
Middle step 101, step 102, step 1031, step 1032, it is of course also possible to reference to implementation procedure identical in other embodiment
Step, will not be repeated here.
Step 604, control unmanned plane flies in the case where flying height is treated.
Wherein, treat that flying height can pre-set.
Or, treat flying height can height input component send.For example, treat that flying height can be operator
By height input key input.
Or, it is contemplated that spray assembly in sprinkling, during according to nozzle with certain spray angle, then flying height
The unit interval can be influenceed to spray the area of covering, it is preferred, therefore, that treating that flying height is automatically right according to the type of spray assembly
Answer.
Specifically, treat flying height be according to the type of spray assembly it is automatic it is corresponding including：
Step 6041, obtains the type information of the spray assembly installed on unmanned plane.
Step 6042, the type information according to the spray assembly for prestoring determines sprinkling with the corresponding relation of spray angle
Angle.
Wherein, Fig. 6 A are spray angle, the pass between lateral separation and spraying altitude that the embodiment of the present invention six is provided
It is schematic diagram.In fig. 6, U is the spray angle of nozzle in spray assembly, and R1 is the nozzle unit interval institute of U for spray angle
The spray radius that can be covered.Wherein, A is sprinkling starting point, and B points are sprinkling terminal, are specifically referred to the Figure 1A in embodiment
Description to spraying route.
Unmanned plane can detect the mount message of spray assembly, and the type letter of spray assembly is obtained according to mount message
Breath, and then the spray angle U of corresponding nozzle is determined according to the type information.
Step 6043, the lateral separation that the acquisition unmanned plane unit interval need to spray.
Wherein, the lateral separation that the unit interval need to spray can be pre-set, or user input.At this
In embodiment, illustrated by R1 of lateral separation.
Step 6044, determines to treat flying height according to lateral separation and spray angle.
Specifically, according to mathematical relationship, can determine to treat flying height H by lateral separation R1 and spray angle U.Example
Such as, can be by lateral separation R1 divided by spray angle U approximate determination flying height H, naturally it is also possible to more by obtaining
Parameter determine more accurately to treat flying height.
When spray assembly nozzle quantity for it is multiple when, can include in the type information of spray assembly the quantity of nozzle and
Nozzles spray angle, according to the quantity and spray angle of nozzle, it may be determined that the spray radius of each nozzle.
Fig. 6 B are another spray angle, the relation between lateral separation and spraying altitude that the embodiment of the present invention six is provided
Schematic diagram.Fig. 6 B are illustrated with nozzle as two, and as shown in Figure 6B, L is lateral separation, and U is the spray angle of nozzle.R2 is
Spray angle is the nozzle spray radius that the unit interval can cover when height is for H of U.
For example, can determine that each sprays divided by 2 by L by lateral separation L and the nozzle of the quantity of nozzle, i.e., 2
The spray radius R2 of mouth, further, can determine spraying altitude H according to the spray radius R2 of each nozzle and spray angle U.
In the sprinkling control method provided in the present embodiment, treat that flying height is corresponded to automatically according to the type of spray assembly
, specifically, the corresponding bar treated flying height, thereby may be ensured that lateral separation determination can be determined according to spray angle
Under part, the uniformity of process is sprayed.
Preferably, nozzle quantity is even number, and is symmetrical arranged, such that it is able to preferably ensure the uniformity of sprinkling.
On the basis of above-mentioned implementation method, for example, if what is determined in step 6044 treats that flying height is to spray
Zero point on the basis of the height above sea level of starting point and calculate treat flying height, for example, 50 meters, if not considering altitude information, unmanned plane
The altitude with 50 meters of benchmark zero distance is always maintained at, in the case where spray angle determines, if now unmanned plane during flying
The corresponding height above sea level in position it is higher than benchmark zero point 10 meters, if the flying height to unmanned plane is not adjusted correspondingly, can shadow
Spray radius are rung, that is, influences the spray area that the unit interval can cover.Therefore, optionally, after above-mentioned steps 6044, also
Can include：
Step 6051, positional information, the corresponding altitude information of positional information and the unmanned plane for obtaining unmanned plane during flying is worked as
The altitude information of preceding flight.
Step 6052, the altitude information according to the corresponding altitude information of positional information and unmanned plane current flight updates to be waited to fly
Row height.
For example, when unmanned plane is in flight course, in flight to the position than 10 meters of benchmark zero point height above sea level before,
Then can accordingly control the flying height of the unmanned plane in subsequent time period higher than current flying height 10 meters, so as to avoid
Influence of the change of height above sea level to the spray area of sprinkling covering.
The measurement of above-mentioned unmanned plane height above sea level can be entered using equipment such as barometer, the laser range finders for carrying thereon
OK.
Embodiment seven
On the basis of above-described embodiment one to embodiment six, if spray assembly has directionality when mounted, that is,
Say, once the direction of unmanned plane changes, for example, operator's maloperation changes the yaw angle of unmanned plane, then can change material spray
Spill to distribution during ground.In order to avoid above-mentioned influence, the sprinkling control method of the unmanned plane that the present embodiment is provided can also be wrapped
Include：
When controlling unmanned plane to take off, the yaw angle of unmanned plane is locked, so that unmanned plane head and machine in flight course
Body keeps fixed angle, so that sprinkling is uniform.
The sprinkling control method of the unmanned plane that the present embodiment is provided, by while controlling unmanned plane to take off, locking nothing
Man-machine yaw angle, such that it is able to ensure sprinkling uniformity of the unmanned plane during sprinkling to a certain extent.
A kind of application scenarios of the yaw angle of above-mentioned locking unmanned plane are that unmanned plane passes through reception pattern selection instruction,
Under corresponding pattern, control unmanned plane takes off, while locking the yaw angle of unmanned plane.When operator needs to change the inclined of unmanned plane
During boat angle, then need to send the instruction for exiting the pattern, after the pattern is exited, the behaviour that can just control unmanned plane to be gone off course
Make, can so avoid the yaw angle caused by maloperation unmanned plane from changing.
Optionally, the method can also include：The state of flight of unmanned plane is detected, judges unmanned plane whether in abnormal shape
State, if result is yes, sends alarm, to prompt the user whether to need to make a return voyage immediately.
Wherein, appointing in information about power, residual drug information, the information about power of remote control of the state of flight including unmanned plane
One or more of meaning.
Accordingly, when information about power of the state of flight for detecting unmanned plane for unmanned plane, then corresponding abnormality
For the electricity of unmanned plane is less than predetermined threshold value；
When residual drug information of the state of flight for detecting unmanned plane for unmanned plane, then corresponding abnormality is surplus
Remaining dose is less than predetermined threshold value；
When information about power of the state of flight for detecting unmanned plane for the remote control of unmanned plane, then corresponding abnormality
For the electricity of remote control is less than predetermined threshold value.
When the state of flight for detecting unmanned plane includes two or more information, as long as then corresponding abnormality is have
One of parameter information then judges that unmanned plane is in abnormality less than predetermined threshold value.For example, when state of flight includes nothing
When man-machine information about power and residual drug information, then corresponding abnormality is the information about power and/or residue of unmanned plane
Dose information is less than predetermined threshold value.
In the unmanned plane sprinkling control method that the present embodiment is provided, the state of flight of unmanned plane is detected, judge the nothing
It is man-machine whether to be in abnormality, if result is returned immediately for that when being, can send alarm such that it is able to prompt the user whether to need
Boat, can prevent nothing caused by air crash, remote control low battery of the unmanned plane in caused such as low battery under abnormality
Man-machine uncontrolled, pesticide spraying finish after one or more problem caused by the floating state in power wastage.
Embodiment eight
A kind of unmanned plane of the present embodiment offer, the sprinkling control method for performing above-described embodiment one to embodiment seven,
Fig. 7 is the structural representation of the unmanned plane that the embodiment of the present invention eight is provided, as shown in fig. 7, the unmanned plane includes：
One or more processor 81, single or collaboration work, processor 81 is used for：Unmanned plane is obtained in spy
Determine the flying distance of the sprinkling starting point to the end in region, choose one of following two parameters：The flight of the unmanned plane
The sprinkling flow velocity of speed and the unmanned plane.
Wherein, if processor 81 choose be flying speed, according to unmanned plane need sprinkling material total amount, choose
Flying speed and flying distance calculate sprinkling flow velocity.Specifically, according to the flying speed of material total amount, flying distance and selection
Sprinkling flow velocity is calculated, as long as ensureing in the flying distance, material is used up and is sprayed uniform.
Processor 81 then controls unmanned plane in the flying speed chosen and calculates after sprinkling flow velocity is calculated
To sprinkling flow velocity under sprayed.
If the selection of processor 81 is sprinkling flow velocity, the material total amount for needing sprinkling according to unmanned plane, the sprinkling chosen
Flow velocity and flying distance calculate flying speed.
Specifically, the sprinkling flow relocity calculation flying speed according to material total amount, flying distance and selection.As long as ensureing
In the flying distance, material is used up and is sprayed uniform.
After processor 81 is calculated flying speed, then unmanned plane is controlled in the spray rate of setting and be calculated
Flying speed under sprayed.
Wherein, optionally, the unmanned plane also includes d GPS locating module 80, and locating module 80 is connected with the communication of processor 81,
Sprinkling starting point to the flying distance for spraying terminal can be obtained by GPS.For example, can be by GPS, it is determined that sprinkling starting point and spray
The gps coordinate of terminal is spilt, and then obtains the flying distance of sprinkling starting point to the end.
Or, the flying distance can also be stored in advance in processor 81.For example, according to the specific region, can
To be previously provided with flight path in processor 81, flight path includes：Sprinkling starting point, sprinkling terminal, unmanned plane unit
Lateral separation and the fore-and-aft distance of unmanned plane unit period domestic demand sprinkling that time need to spray.Processor 81 is further and then root
The flying distance of sprinkling starting point to the end is obtained according to default flight path.
Wherein, processor 81 is a kind of optional in the spray rate of the specific flying speed for choosing unmanned plane and unmanned plane
Implementation method be, the receptive pattern selection instruction of processor 81, mode selection command include choose parameter information, further
, the parameter that processor 81 determines to choose according to the parameter information chosen.
It should be noted that need the material total amount of sprinkling not to be equal to the total material total amount that unmanned plane is carried necessarily,
Can be any number that user sets in advance, such as：1/2 or 2/3 etc. of the total material total amount that unmanned plane is carried.But,
The material total amount for needing sprinkling is preferred scheme equal to the total material total amount that unmanned plane is carried, because this flight can be reduced
The inactive loads of unmanned plane, reach the flying power energy (such as：Battery electric quantity) maximization that utilizes.To avoid repeating, this hair
Embodiment in bright is described so that the material total amount for needing sprinkling is equal to the total material total amount that unmanned plane is carried as an example, but this
It is not meant to present invention eliminates reality of the material total amount less than the total material total amount that unmanned plane is carried that other need sprinkling
Apply scheme.
Optionally, it is necessary to the material total amount of sprinkling can be stored in advance in processor 81, for example, if nobody
Machine can only install the spray assembly of a type and fixed qty, then material total amount can be stored in advance in processor 81.
Certainly, it is necessary to the material total amount of sprinkling by user input, and then can also be received by processor 81, for example, behaviour
Author can be input into material total amount by display screen, and then be received by processor.
Or, processor 81 obtains the material total amount that unmanned plane is carried automatically, and then to determine to need the material of sprinkling total
Amount.For example can be by installing corresponding weight sensor, when spray assembly is mounted on unmanned plane, processor 81 can be with
The automatic information for obtaining the material total amount that unmanned plane is carried.Certainly, the automatic material total amount that obtains is not restricted to use gravity
The mode of sensor, is only to provide a kind of example in the present embodiment, but be not limited thereto system.On this basis, can be with root
The total material total amount carried according to unmanned plane determines to need the material total amount of sprinkling.For example, if what user set in advance
It is the 1/2 of the total material total amount of unmanned plane carrying to need the material total amount of sprinkling, then can be determined according to total material total amount
As long as material total amount to be sprayed is the 1/2 of total material total amount.
It should be noted that the material for needing sprinkling can be any one or more shape in solid, liquid, gas
State, for example, the material of sprinkling can be agricultural chemicals or water, the seed of solid forms, the agricultural chemicals of gas form of liquid form etc..
Certainly, the material of sprinkling can also be solid-state, liquid, the material of any two or three mixing of gaseous state.
The unmanned plane that the present embodiment is provided, processor 81 can be calculated according to material total amount, flying distance and flying speed
The sprinkling flow velocity of matching, or the flying speed of matching is calculated according to material total amount, flying distance and sprinkling flow velocity, so that can
To ensure that carrying out sprinkling under the sprinkling flow velocity and the flying speed can finish substance splash, and uniformly spray, and then
Can avoid manipulator that flying speed and the improper institute of sprinkling flow velocity that flying speed and sprinkling flow velocity are easily caused are set simultaneously
The unmanned plane for causing is not also sprayed to some region of crop, and the problem that medicine has been used up；Or unmanned plane is carried
It is preceding to complete to some region of operation, but medicine also has a large amount of remaining problems.
Embodiment nine
On the basis of above-described embodiment eight, explanation is further explained to the unmanned plane in above-described embodiment.In Fig. 7
Shown unmanned plane on the basis of, Fig. 8 be the embodiment of the present invention nine provide unmanned plane structural representation, as shown in figure 8,
The unmanned plane that the present embodiment is provided can also include at least one flow velocity input component 82.
When the selection of processor 81 is sprinkling flow velocity, then material total amount (following embodiments of sprinkling are needed according to unmanned plane
Middle abbreviation material total amount), choose sprinkling flow velocity and flying distance calculate flying speed when, processor 81 specifically for：Obtain
The sprinkling flow velocity of selection, spraying time is obtained according to the sprinkling flow velocity and material total amount chosen, during according to flying distance and sprinkling
Between calculate the first flying speed, using the first flying speed as current flying speed.
Wherein, the sprinkling flow velocity that processor 81 is chosen can be stored in advance in processor 81.
Or, processor 81 can also automatically be corresponded to according to the type of spray assembly.Specifically, processor 81 can pass through
Obtain the type information of the spray assembly installed on unmanned plane, the further type information according to the spray assembly for prestoring
With the sprinkling flow velocity that the corresponding relation of sprinkling flow velocity determines selection.
For example, unmanned plane can be provided with sensor to obtain sprinkling in corresponding spray assembly installed position
The type information of component.For example, each spray assembly installation place is both provided with sensor, each sensor has one a pair
The mark answered, the mount message of spray assembly corresponding with the sensor is detected by sensor, when sensor has recognized spray
Spill component to be attached to when on unmanned plane, then send the mark of itself to processor 81, processor 81 is sent by identification sensor
Identification information, and sprinkling is identified what type of with the corresponding relation of spray assembly signal according to the identification information that prestores
Component is mounted.Wherein, the type of sensor is not limited, for example, can be gravity sensor, or optics is passed
Sensor, pressure sensor, flow rate of liquid sensor etc..
Optionally, unmanned plane also includes at least one flow velocity input component 82.The sprinkling flow velocity of the selection that processor 81 is obtained
Can also flow velocity input component 82 send.For example, a kind of application scenarios are, operator's triggering flow velocity input component 82, Jin Erliu
Fast input component 82 sends input instruction, after processor 81 receives the input instruction, is determined to choose sprinkling according to the input instruction
Flow velocity.
Optionally, it can also be multiple that flow velocity input component 82 can be one.Wherein, when flow velocity input component 82 is one
When, that is, the sprinkling flow velocity chosen is that when being sent by a flow velocity input component 82, processor 81 can be by detecting that flow velocity is input into
The time that part 82 is triggered recognizes sprinkling flow velocity corresponding with the triggered time.
If flow velocity input component 82 is for multiple, each flow velocity input component 82 can send corresponding sprinkling flow velocity.Such as flow velocity
Input component can be 4, accordingly, can sprinkling flow velocity corresponding with first flow velocity input component when 30 milliliters/seconds, second stream
The corresponding sprinkling flow velocity of fast input component is 40 milliliters/seconds, and the corresponding sprinkling flow velocity of the 3rd flow velocity input component is 50 milliliters/seconds,
The corresponding sprinkling flow velocity of 4th flow velocity input component is 60 milliliters/seconds., wherein it is desired to explanation, the milliliter number in the present embodiment
Simply exemplary numeral, but it is not limited thereto system.
Wherein, flow velocity input component 82 can be arranged on unmanned plane or be arranged on the remote control of unmanned plane.
In addition, flow velocity input component 82 includes：In driving switch, rotary switch, potentiometer, straight line switch, touch display screen
It is any one or more.
The unmanned plane that the present embodiment is provided, processor 81 can be according to according to material total amount, flying distance and sprinkling flow velocity
To calculate the first flying speed of matching, thereby may be ensured that and sprayed under the sprinkling flow velocity and the first flying speed chosen
Substance splash can be finished, and uniformly sprayed, and then can avoid manipulator that flying speed and sprinkling flow velocity are set simultaneously
The improper caused unmanned plane of flying speed and sprinkling flow velocity for easily causing has not sprayed also to some region of crop
Finish, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule to some region of operation, but medicine also has largely remaining asking
Topic.
Embodiment ten
On the basis of above-described embodiment eight, explanation is further explained to the unmanned plane in above-described embodiment.Fig. 9 is
The structural representation of the unmanned plane that the embodiment of the present invention ten is provided, as shown in figure 9, the unmanned plane includes：One or more treatment
Device 81, flow velocity input component 82 and speed input component 83.
When the selection of processor 81 is flying speed, then need the material total amount sprayed, the flight chosen according to unmanned plane
When speed and flying distance calculate sprinkling flow velocity, processor 81 specifically for：The flying speed chosen is obtained, according to flying for choosing
Scanning frequency degree and flying distance obtain spraying time；First is calculated according to material total amount and spraying time spray flow velocity, and with first
Spray rate is used as current sprinkling flow velocity.
Optionally, the spray rate of the selection that processor 81 is obtained can be stored in advance in processor 81；
Or, the unmanned plane also includes：Speed input component 83 for sending the spray rate of selection, speed input component
83 are connected with the communication of processor 81, and processor 81 is specifically that the selection flying speed sent according to speed input component 83 obtains selection
Spray rate.
Processor 81 is additionally operable to receive the speed input instruction that speed input component sends.
Speed input component 83 is multiple, and each speed input component can send the information of corresponding flying speed.
Speed input component 83 includes：It is any in driving switch, rotary switch, potentiometer, straight line switch, touch display screen
One or more.
Speed input component 83 is arranged on unmanned plane or is arranged on the remote control of the unmanned plane.
The unmanned plane that the present embodiment is provided, processor 81 can be according to flying according to material total amount, flying distance and selection
Scanning frequency degree calculates the first spray rate of matching, thereby may be ensured that and is reached under flying speed in the first sprinkling flow velocity and choosing
Carrying out sprinkling can finish substance splash, and uniformly spray, so can avoid manipulator simultaneously set flying speed and
The improper caused unmanned plane of flying speed and sprinkling flow velocity that sprinkling flow velocity is easily caused is not also to some region of work
Thing is sprayed, and medicine has been used up；Or unmanned plane is fulfiled ahead of schedule to some region of operation, but medicine also has a large amount of remaining
Remaining problem.
Embodiment 11
On the basis of above-described embodiment eight to embodiment ten, as shown in Figure 7 to 9, processor 81 is additionally operable to adjust nothing
The man-machine flying speed in flight course, the sprinkling flow velocity adjust automatically of unmanned plane；Or, for adjusting unmanned plane in flight
During sprinkling flow velocity, the flying speed adjust automatically of unmanned plane.
" flying speed of the adjustment unmanned plane in flight course, the sprinkling flow velocity of unmanned plane is automatic in execution for processor 81
During adjustment ", there can be the following two kinds specific embodiment mode：
The first implementation method：
Processor 81 receives speed input instruction, and speed input instruction includes the information of the second flying speed.
Further, processor 81 adjusts flight speed of the unmanned plane in flight course according to the information of the second flying speed
Degree.Specifically, processor 81 obtains the flying speed of current unmanned plane, if current flying speed and the second flying speed phase
Deng then keeping current flying speed constant.If current flying speed is unequal with the second flying speed, unmanned plane is controlled
Flown under the second flying speed.
On this basis, processor 81 obtains remaining flying distance and surplus materials total amount to be sprayed, is treated according to residue
The flying distance of sprinkling and the second flying speed determine remaining spraying time, true according to surplus materials total amount and remaining spraying time
Fixed second sprinkling flow velocity.
Specifically, when processor 81 determines remaining sprinkling by remaining flying distance to be sprayed divided by the second flying speed
Between.Second sprinkling flow velocity is determined divided by remaining spraying time according to surplus materials total amount, current sprinkling flow velocity is obtained, adjustment is worked as
Preceding sprinkling flow velocity is the second sprinkling flow velocity.
According to the second sprinkling flow velocity that the implementation method determines, it is ensured that in the second flying speed and the second sprinkling flow velocity
Under substance splash can be finished when sprinkling terminal is reached, and uniformly spray.
Second implementation method：
Processor 81 receives speed input instruction, and flight of the unmanned plane in flight course is adjusted according to speed input instruction
Speed, and determine the percentage of unmanned plane fluctuation of speed.Further, the percentage line that processor 81 increases and decreases according to flying speed
Property adjustment sprinkling flow velocity increase and decrease percentage, obtain current sprinkling flow velocity, the increase and decrease percentage adjustment according to sprinkling flow velocity is worked as
Preceding sprinkling flow velocity, wherein, the increase and decrease proportional of the increase and decrease and the unmanned plane speed for spraying flow velocity..Specifically
, the percentage of unmanned plane fluctuation of speed can be included in speed input instruction, thus processor 81 can be directly according to speed
Input instruction obtains the percentage of unmanned plane fluctuation of speed, and further, processor 81 obtains current flying speed, according to work as
The flying speed of preceding flying speed and the percentage adjustment unmanned plane of flying speed increase and decrease in flight course.For example,
If processor 81 determines current flying speed for 5 meter per seconds, the percentage of fluctuation of speed to increase by 20%, then adjust by processor 81
The flying speed of whole unmanned plane is 6 meter per seconds.Or, speed input instruction includes unmanned plane flying speed to be adjusted, then locate
Reason device 81 is adjusted to flying speed to be adjusted unmanned plane after current flying speed is obtained.Further, process
Device 81 can determine the percentage of unmanned plane during flying fluctuation of speed according to flying speed and current flying speed to be adjusted.
In the prior art, for example, when the flying speed for adjusting unmanned plane increases, if not adjusting spray flow speed,
The sprinkling flow velocity of shower nozzle is constant, because the flying speed of unmanned plane becomes big, is shortened equivalent to the time for resting on unit distance, then
The material mass being sprayed of unit distance is sprayed to compared with before speed adjustment, certainly will be diminished, before causing speed to adjust
After speed adjustment, sprinkling material is uneven.
It is uniform in order to realize sprinkling, it is preferred that when flying speed increases in the present embodiment, i.e., equivalent to resting on list
The time of position distance becomes in short-term, little with the mass difference of the material that unit distance is sprayed to before speed adjustment in order to ensure, then
Processor 81 accordingly increases sprinkling flow velocity；And when flying speed reduces, that is, rest on unit distance time it is elongated when, then
The flow velocity of control sprinkling accordingly of processor 81 also reduces, you can current with the adjustment that the increase and decrease percentage according to sprinkling flow velocity is linear
Sprinkling flow velocity.
Preferably, in order to further ensure that the substance splash of sprinkling will be needed to finish in flying distance, processor 81
Can cause that the percentage that flying speed increases and decreases is equal with the increase and decrease percentage of sprinkling flow velocity, and spray increase and decrease and the nothing of flow velocity
The increase and decrease proportional of man-machine flying speed.When even flying speed increases by 20%, corresponding sprinkling flow velocity also increases
20%.
In addition, in above two implementation method, speed input instruction can be sent by speed input component 83.Speed is defeated
Entering part 83 can be identical with the speed input component 83 in above-described embodiment nine and embodiment ten, specifically refer to above-described embodiment nine
With embodiment ten, will not be repeated here.
The unmanned plane provided in the present embodiment, when unmanned plane is when flying speed is adjusted during flight, processor 81
Sprinkling flow velocity can be accordingly adjusted, realizes that sprinkling is uniform.
Embodiment 12
On the basis of above-described embodiment eight to embodiment ten, as shown in Fig. 7 or Fig. 8, processor 81 is being performed " for adjusting
During sprinkling flow velocity of the whole unmanned plane in flight course, the flying speed adjust automatically of unmanned plane ", there can be the following two kinds specific
Way of example：
The first implementation method：
Processor 81 is used to receive flow velocity input instruction, and flow velocity input instruction includes the information of the 3rd sprinkling flow velocity.Enter
One step, processor 81 adjusts sprinkling flow velocity of the unmanned plane in flight course according to the information of the 3rd sprinkling flow velocity.
Specifically, processor 81 obtains current sprinkling flow velocity, if current sprinkling flow velocity is equal with the 3rd sprinkling flow velocity,
Then keep current sprinkling flow velocity constant；If current sprinkling flow velocity is unequal with the 3rd sprinkling flow velocity, control unmanned plane exists
Sprayed under 3rd sprinkling flow velocity.
Further, processor 81 also obtains remaining flying distance and surplus materials total amount to be sprayed, according to residue
Matter total amount and the 3rd sprinkling flow velocity determine remaining spraying time, true according to remaining flying distance to be sprayed and remaining spraying time
Fixed 3rd flying speed, current flying speed is adjusted according to the 3rd flying speed.
According to the 3rd flying speed that the implementation method determines, it is ensured that in the 3rd flying speed and the 3rd sprinkling flow velocity
Under substance splash can be finished when sprinkling terminal is reached, and uniformly spray.
Second implementation method：
Processor 81 is used to receive flow velocity input instruction, and unmanned plane is adjusted in flight course according to the flow velocity input instruction
In sprinkling flow velocity, and determine spray flow velocity increase and decrease percentage.Further, the percentage that processor 81 increases and decreases according to flow velocity
The increase and decrease percentage of Serial regulation flying speed, obtains current flying speed, the increase and decrease percentage adjustment according to flying speed
Current flying speed, wherein, the increase and decrease of the flying speed is proportional with the increase and decrease of the sprinkling flow velocity..
Specifically, the percentage of flow velocity increase and decrease can be included in flow velocity input instruction, thus processor 81 can direct root
Obtain spraying the percentage that flow velocity increases and decreases according to flow velocity input instruction, further, processor 81 can be according to current spray flow
The sprinkling flow velocity of speed and the percentage adjustment unmanned plane of sprinkling flow velocity increase and decrease in flight course.For example, if current spray
Flow velocity is spilt for 50 milliliters/seconds, processor 81 determines that the percentage of sprinkling flow velocity increase and decrease adjusts flying for unmanned plane to increase by 20%, then
Scanning frequency degree is 60 milliliters/seconds.
Or, flow velocity input instruction includes unmanned plane spray rate to be adjusted, then processor 81 can be according to current
Spray rate and spray rate to be adjusted determine unmanned plane spray rate increase and decrease percentage.
In the prior art, for example, if the sprinkling flow velocity of adjustment unmanned plane increases, if not adjusting flying for unmanned plane
Scanning frequency degree, i.e. flying speed keep constant, because the sprinkling flow velocity of unmanned plane becomes big, equivalent to rest on unit distance it is same when
Between under conditions of, the material mass being sprayed for being sprayed to unit distance certainly will increase, compared with before spray flow velocity modulation is whole, sprinkling
Amount difference to the material of unit distance becomes big, i.e., for the specific region on ground, the material of sprinkling is uneven.
In the present embodiment, in order to realize that sprinkling is uniform, it is preferred that when flow velocity increase is sprayed, i.e., equivalent to the unit interval
The flow increase of unit length is inside sprayed to, in order to ensure compared with before spray flow velocity modulation is whole, to be sprayed to the material of unit distance
Fountain height difference less, then processor 81 accordingly control increase flying speed；And when spray rate reduces, then processor
81 corresponding control flying speeds also reduce, you can the increase and decrease hundred of the percentage Serial regulation flying speed to be increased and decreased according to flow velocity
Divide ratio.
Preferably, in order to further ensure that the substance splash of sprinkling will be needed to finish in flying distance, processor 81
Can adjust sprinkling flow velocity increase and decrease percentage with sprinkling flow velocity increase and decrease percentage it is equal, and the increase and decrease of flying speed and
The increase and decrease of the sprinkling flow velocity is proportional.
In addition, in above two implementation method, flow velocity input instruction can be sent by flow velocity input component 82, and flow velocity is defeated
Entering part 82 can be identical with the flow velocity input component 82 in above-described embodiment nine and embodiment ten, specifically refer to above-described embodiment nine
With embodiment ten, will not be repeated here.
The unmanned plane provided in the present embodiment, when unmanned plane is when sprinkling flow velocity is adjusted during flight, processor 81
Flying speed can be accordingly adjusted, realizes that sprinkling is uniform.
Embodiment 13
The present embodiment on the basis of above-described embodiment eight to implementation 12, do further by the flying height to unmanned plane
Illustrate.As shown in Figure 7 to 9, processor 81 is additionally operable to control unmanned plane to be flown in the case where flying height is treated.
Wherein, treat that flying height can be set in advance in processor 81, or, treat that flying height can be height
What input component sent.For example, treat that flying height can be that operator is input into key input by height.
Or, it is contemplated that spray assembly in sprinkling, during according to nozzle with certain spray angle, then flying height
The unit interval can be influenceed to spray the area of covering, it is preferred, therefore, that treating that flying height is class of the processor 81 according to spray assembly
Type corresponds to what is obtained automatically.
Specifically, treating that flying height is that processor 81 corresponds to including for acquisition automatically according to the type of spray assembly：Treatment
Device 81 obtains the type information of the spray assembly installed on unmanned plane, and type information according to the spray assembly for prestoring with
The corresponding relation of spray angle determines spray angle, obtains the lateral separation that the unmanned plane unit interval need to spray, according to transverse direction away from
Flying height is treated from spray angle determination.
Wherein, the lateral separation that the unit interval need to spray can be pre-set, or user input.
In the unmanned plane provided in the present embodiment, treat that flying height is processor 81 automatically right according to the type of spray assembly
Answer, specifically, can be determined according to spray angle it is corresponding treat flying height, thereby may be ensured that lateral separation determine
Under the conditions of, spray the uniformity of process.
Preferably, nozzle quantity is even number, and is symmetrical arranged, such that it is able to preferably ensure the uniformity of sprinkling.
On the basis of above-mentioned implementation method, processor 81 is additionally operable to obtain the positional information of unmanned plane during flying, position letter
Cease the altitude information of corresponding altitude information and unmanned plane current flight, according to the corresponding altitude information of positional information and nobody
The altitude information of machine current flight updates treats flying height.
For example, when unmanned plane is in flight course, in flight to the position than 10 meters of benchmark zero point height above sea level before,
Then processor 81 can accordingly control the flying height of the unmanned plane in subsequent time period higher than current flying height 10 meters,
So as to the influence of the spray area that the change for avoiding height above sea level is covered to sprinkling.
The measurement of above-mentioned unmanned plane height above sea level can be entered using equipment such as barometer, the laser range finders for carrying thereon
OK.
On the basis of above-described embodiment, if spray assembly has directionality when mounted, that is to say, that once unmanned plane
Direction change, for example, operator's maloperation changes the yaw angle of unmanned plane, then when can change substance splash to ground point
Cloth.In order to avoid above-mentioned influence, optionally, processor 81 is additionally operable to be locked when controlling unmanned plane to take off the driftage of unmanned plane
Angle, so that unmanned plane head and fuselage in flight course keep fixed angle, so that sprinkling is uniform.
In the unmanned plane that the present embodiment is provided, processor 81 can lock unmanned plane while controlling unmanned plane to take off
Yaw angle, such that it is able to ensure sprinkling uniformity of the unmanned plane during sprinkling to a certain extent, it is possible to avoid miss
Yaw angle change caused by operation unmanned plane.
Optionally, processor 81 is additionally operable to：The state of flight of unmanned plane is detected, judges unmanned plane whether in abnormal shape
State, if result is yes, sends alarm, to prompt the user whether to need to make a return voyage immediately.
Wherein, appointing in information about power, residual drug information, the information about power of remote control of the state of flight including unmanned plane
One or more of meaning.
Accordingly, it is when the state of flight of the detection unmanned plane of processor 81 is the information about power of unmanned plane, then corresponding
Abnormality is less than predetermined threshold value for the electricity of unmanned plane；
When the detection unmanned plane of processor 81 state of flight for unmanned plane residual drug information when, then corresponding exception
State is that residual drug is less than predetermined threshold value；
It is when the state of flight of the detection unmanned plane of processor 81 is the information about power of remote control of unmanned plane, then corresponding
Abnormality is less than predetermined threshold value for the electricity of remote control.
When the state of flight of the detection unmanned plane of processor 81 includes two or more information, then corresponding abnormality
As long as to there is one of parameter information then to judge that unmanned plane is in abnormality less than predetermined threshold value.For example, working as flight shape
When state includes the information about power and residual drug information of unmanned plane, then corresponding abnormality is the information about power of unmanned plane
And/or residual drug information is less than predetermined threshold value.
In the unmanned plane that the present embodiment is provided, processor 81 can detect the state of flight of unmanned plane, judge the nothing
It is man-machine whether to be in abnormality, if result is returned immediately for that when being, can send alarm such that it is able to prompt the user whether to need
Boat, can prevent nothing caused by air crash, remote control low battery of the unmanned plane in caused such as low battery under abnormality
Man-machine uncontrolled, pesticide spraying finish after one or more problem caused by the floating state in power wastage.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list
The division of unit, only a kind of division of logic function can have other dividing mode when actually realizing, such as multiple units or
Component can be combined or be desirably integrated into another system, or some features can be ignored, or not performed.It is another, show
The coupling each other shown or discuss or direct-coupling or communication connection can be by some interfaces, between device or unit
Connect coupling or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that computer disposal
Device (processor) performs all or part of step of each embodiment methods described of the invention.And foregoing storage medium bag
Include：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc. are various can be with the medium of store program codes.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (62)
1. a kind of sprinkling control method of unmanned plane, the specific region to ground carries out spraying operation, it is characterised in that including：
Obtain flying distance of the unmanned plane in the sprinkling starting point to the end of the specific region；
Choose one of following two parameters：The sprinkling flow velocity of the flying speed of the unmanned plane and the unmanned plane；
If what is chosen is flying speed, material total amount, the flying speed of selection and the institute of sprinkling are needed according to the unmanned plane
State flying distance and calculate sprinkling flow velocity；
If what is chosen is sprinkling flow velocity, the material total amount for needing sprinkling according to the unmanned plane, the sprinkling flow velocity chosen and institute
State flying distance and calculate flying speed.
2. the sprinkling control method of unmanned plane according to claim 1, it is characterised in that also include：
Adjust flying speed of the unmanned plane in flight course, the sprinkling flow velocity adjust automatically of the unmanned plane；
Or, adjust sprinkling flow velocity of the unmanned plane in flight course, the flying speed adjust automatically of the unmanned plane.
3. method according to claim 1, it is characterised in that if what is chosen is sprinkling flow velocity, according to unmanned plane needs
The material total amount of sprinkling, the sprinkling flow velocity chosen and flying distance calculate flying speed, including：
Obtain the sprinkling flow velocity chosen；
Sprinkling flow velocity and the material total amount according to the selection obtain spraying time；
First flying speed is calculated according to the flying distance and the spraying time；
Using first flying speed as current flying speed.
4. method according to claim 1, it is characterised in that if what is chosen is flying speed, according to unmanned plane needs
The material total amount of sprinkling, the flying speed chosen and flying distance calculate sprinkling flow velocity, including：
Obtain the flying speed chosen；
Flying speed and the flying distance according to the selection obtain spraying time；
First is calculated according to the material total amount and the spraying time spray flow velocity；
Using first spray rate as current sprinkling flow velocity.
5. method according to claim 2, it is characterised in that when flying speed of the adjustment unmanned plane in flight course
When, the sprinkling flow velocity adjust automatically of unmanned plane includes：
Speed input instruction is received, the speed input instruction includes the information of the second flying speed；
Information according to second flying speed adjusts flying speed of the unmanned plane in flight course；
Obtain remaining flying distance and surplus materials total amount to be sprayed；
Remaining spraying time is determined according to residue flying distance to be sprayed and second flying speed；
Second sprinkling flow velocity is determined according to the surplus materials total amount and the remaining spraying time；
According to the whole current sprinkling flow velocity of the second spray flow velocity modulation.
6. method according to claim 2, it is characterised in that when flying speed of the adjustment unmanned plane in flight course
When, the sprinkling flow velocity adjust automatically of unmanned plane includes：
Receive speed input instruction；
Flying speed of the unmanned plane in flight course is adjusted according to the speed input instruction, and determines unmanned plane during flying speed
The percentage of increase and decrease；
The percentage Serial regulation increased and decreased according to the flying speed sprays the increase and decrease percentage of flow velocity；
Current sprinkling flow velocity is obtained, the increase and decrease percentage according to the sprinkling flow velocity adjusts current sprinkling flow velocity, wherein, institute
State the increase and decrease of sprinkling flow velocity and the increase and decrease proportional of the unmanned plane during flying speed.
7. method according to claim 2, it is characterised in that when sprinkling flow velocity of the adjustment unmanned plane in flight course
When, the flying speed adjust automatically of unmanned plane includes：
Flow velocity input instruction is received, the flow velocity input instruction includes the information of the 3rd sprinkling flow velocity；
Information according to the described 3rd sprinkling flow velocity adjusts sprinkling flow velocity of the unmanned plane in flight course；
Obtain remaining flying distance and surplus materials total amount to be sprayed；
Remaining spraying time is determined according to the surplus materials total amount and the 3rd sprinkling flow velocity；
3rd flying speed is determined according to residue flying distance to be sprayed and remaining spraying time；
Current flying speed is adjusted according to the 3rd flying speed.
8. method according to claim 2, it is characterised in that when sprinkling flow velocity of the adjustment unmanned plane in flight course
When, the flying speed adjust automatically of unmanned plane includes：
Receive flow velocity input instruction；
Sprinkling flow velocity of the unmanned plane in flight course is adjusted according to the flow velocity input instruction, and determines to spray flow velocity increase and decrease
Percentage；
The increase and decrease percentage of the percentage Serial regulation flying speed increased and decreased according to the flow velocity；
Current flying speed is obtained, the increase and decrease percentage according to flying speed adjusts current flying speed, wherein, it is described to fly
The increase and decrease of scanning frequency degree and the increase and decrease proportional for spraying flow velocity.
9. method according to claim 3, it is characterised in that the sprinkling flow velocity of the selection comes from following three kinds of modes
Any one：It is prestoring, according to the type of spray assembly it is automatic it is corresponding, sent by flow velocity input component.
10. method according to claim 9, it is characterised in that the sprinkling flow velocity of the selection is according to spray assembly
Type it is automatic it is corresponding including：
Obtain the type information of the spray assembly installed on unmanned plane；
Type information according to the spray assembly for prestoring determines the sprinkling flow velocity of selection with the corresponding relation of sprinkling flow velocity.
11. method according to claim 7 or 8, it is characterised in that the flow velocity input instruction is by flow velocity input component
Send.
12. method according to claim 9 or 11, it is characterised in that the flow velocity input component is multiple, each flow velocity is defeated
Entering part can send corresponding sprinkling flow velocity.
13. method according to claim 9 or 11, it is characterised in that the flow velocity input component includes：Driving switch, rotation
It is any one or more in button switch, potentiometer, straight line switch, touch display screen.
14. method according to claim 9 or 11, it is characterised in that the flow velocity input component be arranged on unmanned plane or
It is arranged on the remote control of the unmanned plane.
15. methods according to claim 4, it is characterised in that the flying speed of the selection comes from the following manner
Any one：It is prestoring or sent by speed input component.
16. method according to claim 5 or 6, it is characterised in that the speed input instruction is by speed input component
Send.
17. method according to claim 4 or 16, it is characterised in that the speed input component is multiple, each speed is defeated
Entering part can send the information of corresponding flying speed.
18. methods according to claim 17, it is characterised in that the speed input component includes：Driving switch, knob are opened
It is any one or more in pass, potentiometer, straight line switch, touch display screen.
19. methods according to claim 17, the speed input component be arranged on unmanned plane or be arranged on it is described nobody
On the remote control of machine.
20. methods according to claim 1, it is characterised in that the flying distance of the sprinkling starting point to the end is to pass through
What global position system GPS was obtained.
21. methods according to claim 1, it is characterised in that the flying distance of the sprinkling starting point to the end is advance
Storage.
22. methods according to claim 21, it is characterised in that the flying distance of the sprinkling starting point to the end is basis
What default flight path determined, the flight path includes：Sprinkling starting point, sprinkling terminal, unmanned plane unit interval need spray
The fore-and-aft distance of lateral separation and unmanned plane unit period the domestic demand sprinkling spilt.
23. method according to claim any one of 1-22, it is characterised in that also include：
Control unmanned plane flies in the case where flying height is treated.
24. methods according to claim 23, it is characterised in that described to treat that flying height is default or highly defeated
Enter what part sent, or it is automatically corresponding according to the type of spray assembly.
25. methods according to claim 23, it is characterised in that described to treat that flying height is the type according to spray assembly
It is automatic it is corresponding including：
Obtain the type information of the spray assembly installed on unmanned plane；
Type information according to the spray assembly for prestoring determines spray angle with the corresponding relation of spray angle；
The lateral separation that the acquisition unmanned plane unit interval need to spray；
Determine to treat flying height according to the lateral separation and the spray angle.
26. methods according to claim 23, it is characterised in that also include：
Obtain the sea of the positional information, the corresponding altitude information of the positional information and unmanned plane current flight of unmanned plane during flying
Pull out information；
Altitude information according to the corresponding altitude information of the positional information and unmanned plane current flight treats that flight is high described in updating
Degree.
27. methods according to claim 1, it is characterised in that also include：
When controlling the unmanned plane to take off, the yaw angle of unmanned plane is locked, so that unmanned plane sprinkling is uniform.
28. methods according to claim 1, it is characterised in that also include：
The state of flight of unmanned plane is detected, judges that whether the unmanned plane, in abnormality, if result is yes, sends police
Report, to prompt the user whether to need to make a return voyage immediately.
29. methods according to claim 28, it is characterised in that information about power of the state of flight including unmanned plane,
Any one or more in residual drug information, the information about power of remote control.
30. methods according to claim 1, it is characterised in that also include：Obtaining unmanned plane needs the material of sprinkling total
Amount, the material total amount be prestore, any one in user input or automatic acquisition.
31. according to the method described in claim 1, it is characterised in that the material total amount of the needs sprinkling is carried for unmanned plane
The total amount of material.
A kind of 32. unmanned planes, it is characterised in that including：
One or more processor, single or collaboration work, the processor is used for：
Obtain flying distance of the unmanned plane in the sprinkling starting point to the end of the specific region；
Choose one of following two parameters：The sprinkling flow velocity of the flying speed of the unmanned plane and the unmanned plane；
If what is chosen is flying speed, material total amount, the flying speed of selection and the institute of sprinkling are needed according to the unmanned plane
State flying distance and calculate sprinkling flow velocity；
If what is chosen is sprinkling flow velocity, the material total amount for needing sprinkling according to the unmanned plane, the sprinkling flow velocity chosen and institute
State flying distance and calculate flying speed.
33. unmanned planes according to claim 32, it is characterised in that the processor is additionally operable to adjust the unmanned plane and exists
Flying speed in flight course, the sprinkling flow velocity adjust automatically of the unmanned plane；
Or, adjust sprinkling flow velocity of the unmanned plane in flight course, the flying speed adjust automatically of the unmanned plane.
34. unmanned planes according to claim 32, it is characterised in that the processor specifically for：
Obtain the sprinkling flow velocity chosen；
Sprinkling flow velocity and the material total amount according to the selection obtain spraying time；
First flying speed is calculated according to the flying distance and the spraying time；
Using first flying speed as current flying speed.
35. unmanned planes according to claim 32, it is characterised in that the processor specifically for：
Obtain the flying speed chosen；
Flying speed and the flying distance according to the selection obtain spraying time；
First is calculated according to the material total amount and the spraying time spray flow velocity；
Using first spray rate as current sprinkling flow velocity.
36. unmanned planes according to claim 33, it is characterised in that the processor specifically for：
Speed input instruction is received, the speed input instruction includes the information of the second flying speed；
Information according to second flying speed adjusts flying speed of the unmanned plane in flight course；
Obtain remaining flying distance and surplus materials total amount to be sprayed；
Remaining spraying time is determined according to residue flying distance to be sprayed and second flying speed；
Second sprinkling flow velocity is determined according to the surplus materials total amount and the remaining spraying time；
According to the whole current sprinkling flow velocity of the second spray flow velocity modulation.
37. unmanned planes according to claim 33, it is characterised in that the processor specifically for：
Receive speed input instruction；
Flying speed of the unmanned plane in flight course is adjusted according to speed input instruction, and determines unmanned plane during flying fluctuation of speed
Percentage；
The percentage Serial regulation increased and decreased according to the flying speed sprays the increase and decrease percentage of flow velocity；
Current sprinkling flow velocity is obtained, the increase and decrease percentage according to the sprinkling flow velocity adjusts current sprinkling flow velocity, wherein, institute
State the increase and decrease of sprinkling flow velocity and the increase and decrease proportional of the unmanned plane during flying speed.
38. unmanned planes according to claim 33, it is characterised in that the processor specifically for：
Flow velocity input instruction is received, the flow velocity input instruction includes the information of the 3rd sprinkling flow velocity；
Information according to the described 3rd sprinkling flow velocity adjusts sprinkling flow velocity of the unmanned plane in flight course；
Obtain remaining flying distance and surplus materials total amount to be sprayed；
Remaining spraying time is determined according to the surplus materials total amount and the 3rd sprinkling flow velocity；
3rd flying speed is determined according to residue flying distance to be sprayed and remaining spraying time；
Current flying speed is adjusted according to the 3rd flying speed.
39. unmanned planes according to claim 33, it is characterised in that the processor specifically for：
Receive flow velocity input instruction；
Sprinkling flow velocity of the unmanned plane in flight course is adjusted according to the flow velocity input instruction, and determines to spray flow velocity increase and decrease
Percentage；
The increase and decrease percentage of the percentage Serial regulation flying speed increased and decreased according to the flow velocity；
Current flying speed is obtained, the increase and decrease percentage according to flying speed adjusts current flying speed, wherein, it is described to fly
The increase and decrease of scanning frequency degree and the increase and decrease proportional for spraying flow velocity.
40. unmanned planes according to claim 34, it is characterised in that the processor is specifically the class according to spray assembly
Type corresponds to the sprinkling flow velocity that acquisition is chosen automatically；
Or the sprinkling flow velocity of the selection of the processor acquisition is prestored；
Or, the unmanned plane also includes：
Flow velocity input component for sending the sprinkling flow velocity of selection, the flow velocity input component is connected with processor communication, institute
State the sprinkling flow velocity of the selection that processor is obtained particular by the sprinkling flow velocity for receiving the selection that the flow velocity input component sends.
41. unmanned planes according to claim 40, it is characterised in that the processor pacify on unmanned plane specifically for being obtained
The type information of the spray assembly of dress；
Type information according to the spray assembly for prestoring determines initial sprinkling flow velocity with the corresponding relation of sprinkling flow velocity.
42. unmanned plane according to claim 38 or 39, it is characterised in that the flow velocity input instruction that the processor is received
It is that flow velocity input component sends.
43. unmanned plane according to claim 40 or 42, it is characterised in that the flow velocity input component is multiple, each stream
Fast input component can send corresponding sprinkling flow velocity.
44. unmanned planes according to claim 43, it is characterised in that the flow velocity input component includes：Driving switch, knob
It is any one or more in switch, potentiometer, straight line switch, touch display screen.
45. unmanned plane according to claim 40 or 42, it is characterised in that the flow velocity input component is arranged on unmanned plane
Or be arranged on the remote control of the unmanned plane.
46. unmanned planes according to claim 32, it is characterised in that the flying speed of the selection that the processor is obtained is
Prestore；
Or, the unmanned plane also includes：Speed input component for sending the flying speed of selection, the speed input component with
The processor communication connection, the processor is specifically the choosing of the flying speed acquisition of the selection sent according to speed input component
The flying speed for taking.
47. unmanned plane according to claim 36 or 37, it is characterised in that the processor is additionally operable to receive speed input
The speed input instruction that part sends.
48. unmanned plane according to claim 35 or 47, it is characterised in that the speed input component is multiple, each speed
Degree input component can send the information of corresponding flying speed.
49. unmanned plane according to claim 35 or 47, it is characterised in that the speed input component includes：Driving switch,
It is any one or more in rotary switch, potentiometer, straight line switch, touch display screen.
50. unmanned plane according to claim 35 or 47, it is characterised in that the speed input component is arranged on unmanned plane
Or be arranged on the remote control of the unmanned plane.
51. unmanned planes according to claim 32, it is characterised in that also include：D GPS locating module, it is described for obtaining
Spray the flying distance of starting point to the end.
52. unmanned planes according to claim 32, it is characterised in that what the treatment implement body was obtained prestores
Spray the flying distance of starting point to the end.
53. unmanned planes according to claim 52, it is characterised in that the processor is used for according to default flight path
Determine the flying distance of the sprinkling starting point to the end, wherein, the flight path includes：Sprinkling starting point, sprinkling terminal, nothing
Lateral separation and the fore-and-aft distance of unmanned plane unit period domestic demand sprinkling that the man-machine unit interval need to spray.
54. unmanned plane according to claim any one of 32-53, it is characterised in that the processor is additionally operable to：
The unmanned plane is controlled to be flown in the case where flying height is treated.
55. unmanned planes according to claim 54, it is characterised in that also include：The height of flying height is treated for being input into
Input component, the height input component is arranged on unmanned plane or is arranged on the remote control of the unmanned plane.
56. unmanned planes according to claim 54, it is characterised in that the treatment implement body is additionally operable to：
Obtain the type information of the spray assembly installed on unmanned plane；
Type information according to the spray assembly for prestoring determines spray angle with the corresponding relation of spray angle；
The lateral separation that the acquisition unmanned plane unit interval need to spray；
Determine to treat flying height according to the lateral separation and the spray angle.
57. unmanned planes according to claim 54, it is characterised in that the processor is additionally operable to：
Obtain the sea of the positional information, the corresponding altitude information of the positional information and unmanned plane current flight of unmanned plane during flying
Pull out information；
Altitude information according to the corresponding altitude information of the positional information and unmanned plane current flight treats that flight is high shown in updating
Degree.
58. unmanned planes according to claim 32, it is characterised in that the processor is additionally operable to：
When controlling the unmanned plane to take off, the yaw angle of unmanned plane is locked, so that unmanned plane sprinkling is uniform.
59. unmanned plane according to claim 32 or 57 or 58 any one, it is characterised in that the processor is additionally operable to：
The state of flight of unmanned plane is detected, judges that whether the unmanned plane, in abnormality, if result is yes, sends police
Report, to prompt the user whether to need to make a return voyage immediately.
60. unmanned planes according to claim 59, it is characterised in that the state of flight of the processor detection can be wrapped
Include：Any one or more in information about power, residual drug information, the information about power of remote control of unmanned plane.
61. unmanned planes according to claim 32, it is characterised in that the processor is additionally operable to：Obtaining unmanned plane needs
The material total amount of sprinkling, the material total amount be prestore, any one in user input or automatic acquisition.
62. unmanned planes according to claim 32, it is characterised in that the material that the processor sprays the need for obtaining is total
Measure the total amount of the material carried for unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2016/080784 WO2017185359A1 (en) | 2016-04-29 | 2016-04-29 | Spraying control method of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN114326809A (en) * | 2021-12-29 | 2022-04-12 | 广州极飞科技股份有限公司 | Method and device for determining backsight point, electronic equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109782808A (en) | 2019-05-21 |
| CN109782808B (en) | 2021-08-24 |
| WO2017185359A1 (en) | 2017-11-02 |
| CN106714554B (en) | 2019-04-09 |
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