CN109782808B

CN109782808B - Unmanned aerial vehicle and spraying control method thereof

Info

Publication number: CN109782808B
Application number: CN201910184654.7A
Authority: CN
Inventors: 吴旭民; 冯壮; 闫光; 孙久之; 敖继渊
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2016-04-29
Filing date: 2016-04-29
Publication date: 2021-08-24
Anticipated expiration: 2036-04-29
Also published as: WO2017185359A1; CN106714554B; CN109782808A; CN106714554A

Abstract

A spraying control method of an unmanned aerial vehicle and the unmanned aerial vehicle are provided, and the method comprises the following steps: acquiring the selected spraying flow rate, wherein the spraying flow rate is sent out through a flow rate input piece on a remote controller of the unmanned aerial vehicle; acquiring spraying time according to the selected spraying flow rate and the total amount of the substances; calculating a first flight speed according to the flight distance and the spraying time; and controlling the unmanned aerial vehicle to spray at the current flight speed and the selected spraying flow rate by taking the first flight speed as the current flight speed. The first flying speed is determined by the total amount of the material, the flying distance and the selected spraying flow rate, so that the material can be sprayed completely and uniformly when the spraying end point is reached under the selected spraying flow rate and the first flying speed.

Description

Unmanned aerial vehicle and spraying control method thereof

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a spraying control method of an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

In recent years, agricultural modernization and precision agriculture are continuously developed, and the development of agricultural machinery provides great convenience for agricultural modernization. The unmanned aircraft-based operation tool provides an efficient and convenient operation method for agricultural modernization.

In the spraying operation of the unmanned aerial vehicle in the prior art, an operator usually sets the flight speed and the spraying flow rate, but if the flight speed and the spraying flow rate are not set properly, the unmanned aerial vehicle is not sprayed to crops in a certain area, and medicines are used up; or the unmanned aerial vehicle finishes the operation of a certain area in advance, but a large amount of medicine remains; or the medicine spraying is not uniform enough, and the like.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a method for solving the problems that in the prior art, an operator sets the flight speed and the spraying flow rate, if the flight speed and the spraying flow rate are not set properly, the unmanned aerial vehicle does not spray crops in a certain area completely, and medicines are used up; or the unmanned aerial vehicle finishes the operation of a certain area in advance, but a large amount of medicine remains; or the medicine spraying is not uniform enough, and the like.

The invention provides a spraying control method of an unmanned aerial vehicle, which comprises the following steps:

obtaining the flight distance from a spraying starting point to a spraying end point of the unmanned aerial vehicle in a specific area;

selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle;

if the selected flying speed is the flying speed, calculating the spraying flow rate according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flying speed and the obtained flying distance;

if the spraying flow rate is selected, calculating the flying speed according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the obtained flying distance.

A second aspect of the invention provides a drone comprising:

one or more processors, operating alone or in conjunction, the processors to:

According to the spraying control method of the unmanned aerial vehicle and the unmanned aerial vehicle, the matched spraying flow rate can be calculated according to the total amount of the substances, the flight distance and the flight speed, or the matched flight speed can be calculated according to the total amount of the substances, the flight distance and the spraying flow rate, so that the spraying at the spraying flow rate and the flight speed can be ensured to finish the spraying of the substances, the substances can be uniformly sprayed, and the situation that the unmanned aerial vehicle does not finish the spraying of crops in a certain area and the medicines are used up due to the fact that the flight speed and the spraying flow rate are easily improper when an operator sets the flight speed and the spraying flow rate at the same time can be avoided; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

In addition, on the basis of the first aspect, the spraying control method of the unmanned aerial vehicle provided by the invention further comprises the following steps:

the flight speed of the unmanned aerial vehicle in the flight process is adjusted, and the spraying flow rate of the unmanned aerial vehicle is automatically adjusted;

or, the unmanned aerial vehicle is adjusted to spray the velocity of flow at the flight in-process, unmanned aerial vehicle's airspeed automatic adjustment.

On the basis of the second aspect, the processor of the unmanned aerial vehicle provided by the invention is further configured to:

The spraying control method of the unmanned aerial vehicle and the unmanned aerial vehicle can adjust the spraying speed in a self-adaptive mode when the flying speed is adjusted, or adjust the flying speed in a self-adaptive mode when the spraying speed is adjusted, so that the unmanned aerial vehicle can spray uniformly.

Drawings

Fig. 1 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 1A is a schematic view of a flight path provided in a spraying control method of an unmanned aerial vehicle according to an embodiment of the present invention

Fig. 2 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a second embodiment of the present invention;

fig. 3 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a third embodiment of the present invention;

fig. 4 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a fourth embodiment of the present invention;

fig. 5 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a fifth embodiment of the present invention;

fig. 6 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a sixth embodiment of the present invention;

fig. 6A is a schematic diagram illustrating a relationship between a spraying angle, a transverse distance and a spraying height according to a sixth embodiment of the present invention;

fig. 6B is a schematic diagram illustrating a relationship between a spraying angle, a transverse distance and a spraying height according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an eighth embodiment of the present invention;

fig. 8 is a schematic structural diagram of an unmanned aerial vehicle according to a ninth embodiment of the present invention;

fig. 9 is a schematic structural diagram of an unmanned aerial vehicle provided by the tenth embodiment of the present invention.

Detailed Description

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The following description is presented to enable any person skilled in the art to make and use the embodiments, and is provided in the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The data structures and code described in this detailed description of the invention are typically stored on a computer-readable storage medium, which may be any device or medium that can store code and/or data for use by a computer system. Computer-readable storage media include, but are not limited to: volatile memory, non-volatile memory, magnetic and optical storage devices such as disk drives, magnetic tape, CDs (compact discs), DVDs (digital versatile discs or digital video discs), etc., or other media capable of storing code and/or data now known or later developed.

The methods and processes described in the detailed description of the invention can be embodied as code and/or data, which can be stored in a computer-readable storage medium as described above. When a computer system reads and executes the code and/or data stored on the computer-readable storage medium, the computer system performs the methods and processes embodied as data structures and code and stored in the computer-readable storage medium.

Furthermore, the methods and processes described herein may be embodied in hardware modules or devices. These modules or devices may include, but are not limited to: an Application Specific Integrated Circuit (ASIC) chip, a Field Programmable Gate Array (FPGA), a dedicated or shared processor that executes a particular software module or piece of code at a particular time, and/or other programmable logic devices now known or later developed. When activated, the hardware modules or devices perform the methods and processes included therein.

Example one

Fig. 1 is a schematic flow chart of a spraying control method for an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the spraying control method for an unmanned aerial vehicle performs a spraying operation on a specific area on the ground, including:

step 101, obtaining the flight distance from a spraying starting point to a spraying end point of the unmanned aerial vehicle in a specific area.

The flight distance may be obtained by a Global Positioning System (GPS). For example, the GPS coordinates of the spraying start point and the spraying end point can be determined by GPS, and the flight distance from the spraying start point to the spraying end point can be obtained.

Alternatively, the flight distance may be stored in advance. For example, according to the specific area, a flight route may be preset in the unmanned aerial vehicle, and the flight route includes: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray. The unmanned aerial vehicle further obtains the flight distance from the spraying starting point to the terminal point according to the preset flight route.

Fig. 1A is a schematic view of a flight path provided in a spraying control method of an unmanned aerial vehicle according to an embodiment of the present invention, and it should be noted that fig. 1A only shows an exemplary flight path, but the flight path is not limited thereto, and the present embodiment takes fig. 1A as an example to explain a lateral distance and a longitudinal distance.

The point A is a spraying starting point, the point B is a spraying end point, the vector direction of a connecting line of the point A and the point B is defined as a transverse direction, and the vector direction perpendicular to the connecting line direction of the point A and the point B is defined as a longitudinal direction. In fig. 1A, a line connecting point a and point D is a longitudinal distance, that is, a distance in which the drone flies in a longitudinal direction in one cycle. The transverse distance refers to the distance that the unmanned aerial vehicle needs to cover in the transverse direction per unit time when flying along the longitudinal direction, namely the transverse distance, and in fig. 1A, the transverse distance that the unmanned aerial vehicle needs to spray per unit time when flying along the longitudinal direction of the AD link is exemplarily given as L. Wherein, horizontal distance can be confirmed according to the flight route when unmanned aerial vehicle sprays, perhaps, unmanned aerial vehicle can input horizontal distance and vertical distance and spray the starting point, spray the terminal point according to the operator in advance, plans the flight route.

In addition, the unit period refers to a distance flown along a longitudinal direction in one period when the unmanned aerial vehicle sprays on a periodic track, in the figure, a period from a point a to a point C is one period, and a period from a point C to a point B is one period, so that the longitudinal distance refers to a distance between the point a and the point D.

Step 102, selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle.

One specific way to select parameters is: and determining the selected parameters by receiving a mode selection instruction, wherein the mode selection instruction comprises the selected parameter information.

And step 1031, if the selected spraying flow rate is the spraying flow rate, calculating the flying speed according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the flying distance.

Specifically, the flying speed is calculated according to the total amount of the material, the flying distance and the selected spraying flow rate. As long as it is ensured that within this flying distance the substance is used up and sprayed evenly.

And after the flying speed is obtained through calculation, the unmanned aerial vehicle is controlled to spray at the set spraying speed and the flying speed obtained through calculation.

And 1032, if the selected flying speed is the flying speed, calculating the spraying flow rate according to the total amount of the substances required to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance. Specifically, for example, if the total amount of the substances to be sprayed is the total amount of all the substances carried by the unmanned aerial vehicle, the spraying flow rate is calculated according to the total amount of the substances to be sprayed, the flight distance and the selected flight speed, as long as it is ensured that the substances are used up and uniformly sprayed within the flight distance.

It should be noted that the total amount of the material that needs to spray need not necessarily equal to the total amount of all materials that unmanned aerial vehicle carried, can be the arbitrary numerical value that the user set for in advance, for example: 1/2 or 2/3 and the like of the total amount of all materials carried by the drone. However, it is preferable that the total amount of the material to be sprayed is equal to the total amount of the material carried by the drone, because such a flight can reduce the dead load of the drone and maximize the use of the flight power (e.g., battery power). For avoiding repeated description, the embodiment of the present invention is described by taking the total amount of the substances to be sprayed being equal to the total amount of all the substances carried by the unmanned aerial vehicle as an example, but this does not mean that the present invention excludes other embodiments in which the total amount of the substances to be sprayed is less than the total amount of all the substances carried by the unmanned aerial vehicle. And after the spraying flow rate is obtained through calculation, the unmanned aerial vehicle is controlled to spray at the selected flight speed and the spraying flow rate obtained through calculation.

Alternatively, the total amount of material to be sprayed may be pre-stored, for example if the drone is only able to install one type and a fixed number of spray assemblies.

Of course, the total amount of substance to be sprayed may also be input by the user, for example, via a display screen.

Or, also can confirm the material total amount that needs to spray through the material total amount that automatic acquisition unmanned aerial vehicle carried, for example can be through installing corresponding weighing transducer, when spraying the subassembly and being installed to unmanned aerial vehicle on, the information of the material total amount that the treater can automatic acquisition unmanned aerial vehicle carried. Of course, the automatic acquisition of the total amount of the material carried by the unmanned aerial vehicle is not limited to the manner of using the gravity sensor, and the embodiment merely gives an example, but is not limited thereto. On this basis, can confirm the material total amount that needs to spray according to the whole material total amount that unmanned aerial vehicle carried. For example, if the total amount of the substances to be sprayed, which is set in advance by the user, is 1/2 of the total amount of all the substances carried by the unmanned aerial vehicle, the total amount of the substances to be sprayed can be determined according to the total amount of all the substances as long as 1/2 of the total amount of all the substances is required. The substance to be sprayed may be in any form of solid, liquid, or gas, and for example, the substance to be sprayed may be a liquid form of an agricultural chemical, or water, a solid form of seeds, a gas form of an agricultural chemical, or the like. Of course, the sprayed substance can be any two or three mixed substances of solid, liquid and gas.

According to the spraying control method of the unmanned aerial vehicle, the unmanned aerial vehicle can calculate the matched spraying flow rate according to the total amount of the material, the flight distance and the flight speed, or calculate the matched flight speed according to the total amount of the material, the flight distance and the spraying flow rate, so that the spraying at the spraying flow rate and the flight speed can be ensured to finish the spraying of the material, and the uniform spraying can be realized, further, the situation that the unmanned aerial vehicle does not finish the spraying of crops in a certain area due to the fact that the flight speed and the spraying flow rate are easily set by an operator at the same time and the spraying flow rate is not proper can be avoided, and the medicines are used up; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

Example two

This embodiment further explains step 1031 on the basis of the first embodiment shown in fig. 1. Fig. 2 is a schematic flow chart of a spraying control method for an unmanned aerial vehicle according to a second embodiment of the present invention, and as shown in fig. 2, in the spraying control method, specifically, if a spraying flow rate is selected, a flying speed is calculated according to a total amount of a substance to be sprayed by the unmanned aerial vehicle (in the following embodiments, referred to as a total amount of a substance for short), the selected spraying flow rate, and the flying distance, where the method includes:

and step 10311, obtaining the selected spraying flow rate.

Specifically, the selected spray flow rate may be preset settings and stored in the processor of the drone.

Or, can correspond according to the type automation of spraying the subassembly, it is specific, can be through the type information that obtains the spraying subassembly of installation on the unmanned aerial vehicle, further according to the type information that sprays the subassembly in advance and spray the velocity of flow's corresponding relation and confirm the velocity of flow of spraying of choosing.

For example, the drone may be provided with sensors at respective spray assembly mounting locations to obtain type information of the spray assemblies. For example, each spraying assembly installation department all is provided with the sensor, and every sensor all has its one-to-one's sign, detects the installation information of the spraying assembly who corresponds with this sensor through the sensor, when the sensor discerned that there is the spraying assembly to install to unmanned aerial vehicle on, then sent the sign of self to the treater, the treater passes through the sign information that the discernment sensor sent to and the corresponding relation according to the sign information that prestores and spraying assembly signal comes the spraying assembly who discerns which kind of type to be installed. The type of the sensor is not limited, and may be, for example, a gravity sensor, an optical sensor, a pressure sensor, a liquid flow rate sensor, or the like.

Alternatively, the selected spray flow rate may be from a flow rate input. For example, one application scenario is that an operator triggers the flow rate input element, and then the flow rate input element sends an input command, and when the input command is received, the selected spraying flow rate is determined according to the input command.

Wherein, optionally, the flow rate input member can be one or a plurality of. When the flow rate input element is one, namely the selected spraying flow rate is sent out through one flow rate input element, the processor can identify the spraying flow rate corresponding to the triggering time by detecting the triggering time of the flow rate input element.

If the flow rate input member is multiple, each flow rate input member can send out corresponding spraying flow rate. For example, the flow rate inputs may be 4, and accordingly, the first flow rate input may correspond to a spray flow rate of 30 ml/sec, the second flow rate input may correspond to a spray flow rate of 40 ml/sec, the third flow rate input may correspond to a spray flow rate of 50 ml/sec, and the fourth flow rate input may correspond to a spray flow rate of 60 ml/sec. It should be noted that the number of milliliters in this embodiment is only an exemplary number, but not limited thereto.

Wherein, the velocity of flow input piece can set up on unmanned aerial vehicle or set up on unmanned aerial vehicle's remote controller.

In addition, the flow rate input member includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

In summary, the selected spray flow rate comes from any one of the following three ways: pre-stored, automatically corresponding to the type of spray assembly, issued by the flow rate input.

Step 10322, obtain the spray time based on the selected spray flow rate and total amount of material.

In particular, the spray time may be determined by dividing the total amount of material by the selected spray flow rate.

At step 10333, a first airspeed is calculated based on the distance of flight and the spray time.

Further, the flight distance divided by the spray time may determine the first flight speed.

Step 10334, the first airspeed is taken as the current airspeed.

Further, the unmanned aerial vehicle can be controlled to spray at the current flight speed and the selected spraying flow rate.

According to the method, the first flying speed is determined according to the total amount of the substances, the flying distance and the selected spraying flow rate, so that the substances can be sprayed completely and uniformly when the spraying end point is reached under the selected spraying flow rate and the first flying speed.

According to the spraying control method of the unmanned aerial vehicle, the unmanned aerial vehicle can calculate the matched first flight speed according to the total amount of the materials, the flight distance and the spraying flow speed, so that the materials can be sprayed completely and uniformly at the selected spraying flow speed and the first flight speed, further, the situation that the unmanned aerial vehicle does not spray the crops in a certain area completely and the medicines are used up due to the fact that the flight speed easily caused by the fact that an operator sets the flight speed and the spraying flow speed simultaneously and the spraying flow speed are not proper can be avoided; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

EXAMPLE III

This embodiment further explains step 1032 on the basis of the first embodiment shown in fig. 1. Fig. 3 is a schematic flow chart of a spraying control method for an unmanned aerial vehicle according to a third embodiment of the present invention, and as shown in fig. 3, in the spraying control method, if the flight speed is selected, the spraying flow rate is calculated according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flight speed, and the flight distance, and the method includes:

at step 10321, the selected airspeed is obtained.

The selected flight speed comes from any one of the following three modes: pre-stored, or issued by a speed input.

If the selected flight speed is sent through the speed input element, optionally, the number of the speed input elements can be multiple, and each speed input element can send out information of the corresponding flight speed.

Of course, the speed input member may be one, and when the speed input member is one, that is, the selected flying speed is sent through one flow speed input member, the processor may identify the flying speed corresponding to the triggering time by detecting the time when the speed input member is triggered.

Optionally, the speed input comprises: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

The speed input may be provided on the drone or on a remote control of the drone.

Step 10322, obtain the spray time based on the selected flight speed and flight distance.

Specifically, the spray time may be determined by dividing the flight distance by the selected flight speed.

At step 10333, a first spray flow rate is calculated based on the total amount of material and the spray time.

Further, the first spray flow rate is determined by dividing the total amount of material by the spray time.

At step 10334, the first spray rate is used as the current spray flow rate.

Further, the unmanned aerial vehicle can be controlled to spray at the current spraying flow rate and the selected flying speed.

The first spraying flow rate determined according to the method can ensure that the material can be sprayed completely and uniformly when the spraying end point is reached under the selected flight speed and the first spraying flow rate.

On the basis of the first to third embodiments, it should be noted that, in step 102, when the flight speed of the unmanned aerial vehicle or the spraying flow rate of the unmanned aerial vehicle is selected, the selected parameter may be determined by receiving a mode selection instruction, where the mode selection instruction includes information of the selected parameter. That is, the drone may include two mode selections, one mode to calculate the spray flow rate in step 1031 and one mode to calculate the airspeed in step 1032.

When unmanned aerial vehicle possessed above-mentioned two kinds of modes, then unmanned aerial vehicle can have velocity of flow input piece and speed input piece simultaneously.

According to the spraying control method of the unmanned aerial vehicle, the unmanned aerial vehicle can calculate the matched first spraying speed according to the total amount of the materials, the flying distance and the selected flying speed, so that the spraying can be carried out at the first spraying flow speed and the selected flying speed, the materials are sprayed completely, the uniform spraying is realized, the situation that the unmanned aerial vehicle does not spray the crops in a certain area completely and the medicines are used up due to the fact that an operator sets the flying speed and the spraying flow speed which are easy to cause and the spraying flow speed is not appropriate at the same time can be avoided; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

Example four

Fig. 4 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a fourth embodiment of the present invention, and as shown in fig. 4, on the basis of the embodiment shown in fig. 1, the spraying control method of the unmanned aerial vehicle includes:

step 401, obtaining a flight distance from a spraying start point to a spraying end point of the unmanned aerial vehicle in a specific area.

Step 402, selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle.

Step 4031, if the selected spraying flow rate is the spraying flow rate, calculating the flying speed according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the flying distance.

Step 4032, if the selected flying speed is the flying speed, calculating the spraying flow rate according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance.

The specific implementation manners of step 401, step 402, step 4031 and step 4032 may refer to step 101, step 102, step 1031 and step 1032 in the first to third embodiments, and are not described again here.

Step 4041, adjusting the flying speed of the unmanned aerial vehicle during the flying process, and automatically adjusting the spraying flow rate of the unmanned aerial vehicle.

Wherein, the flying speed of adjustment unmanned aerial vehicle at the flight in-process can be for unmanned aerial vehicle automatic adjustment, and then comes the regulation to spray the velocity of flow, for example, unmanned aerial vehicle can obtain current wind speed information in real time, according to current wind speed automatic adjustment flying speed, and is further, sprays the velocity of flow according to the velocity of flow automatic adjustment.

Alternatively, the speed of flight, and thus the spray rate, may be adjusted by receiving a speed input command.

Wherein, the following two embodiments can be included to adjust the flying speed and thus the spraying speed by receiving the speed instruction.

The first embodiment comprises:

step 40411, a speed input command is received, where the speed input command includes information of the second flying speed.

And step 40412, adjusting the flying speed of the unmanned aerial vehicle in the flying process according to the information of the second flying speed.

Specifically, the current flying speed of the unmanned aerial vehicle is obtained, and if the current flying speed is equal to the second flying speed, the current flying speed is kept unchanged. And if the current flight speed is not equal to the second flight speed, controlling the unmanned aerial vehicle to fly at the second flight speed.

It should be noted that the execution sequence of steps 40412, 40413, 40414, 40415, and 40416 is not limited, that is, step 40412 may be executed before or after these steps. Of course, it may be performed simultaneously.

Step 40413, obtain the remaining flight distance to be sprayed and the total amount of remaining material.

The remaining flying distance to be sprayed is the value obtained by subtracting the sprayed distance from the flying distance from the spraying starting point to the spraying end point, and the value is the remaining flying distance to be sprayed. The total amount of remaining substance means a value obtained by subtracting the amount of the substance that has been sprayed from the total amount of substance, and is the total amount of remaining substance.

Of course, if the spraying is not performed, under an extreme condition, the remaining flying distance to be sprayed and the flying distance from the spraying starting point to the spraying ending point are the total amount of the remaining substances.

Step 40414, determining the remaining spraying time according to the remaining flying distance to be sprayed and the second flying speed.

Specifically, the remaining spraying time is determined by dividing the flight distance remaining to be sprayed by the second flight speed.

Step 40415, a second spray flow rate is determined based on the total amount of material remaining and the remaining spray time.

Specifically, the second spray flow rate is determined by dividing the total amount of remaining material by the remaining spray time.

Step 40416, the current spray flow rate is adjusted based on the second spray flow rate.

Specifically, the current spraying flow rate is obtained, and the current spraying flow rate is adjusted to be the second spraying flow rate.

According to the second spraying flow rate determined by the embodiment, the spraying of the substances can be finished and the substances can be uniformly sprayed when the spraying end point is reached at the second flying speed and the second spraying flow rate.

The second embodiment comprises:

at step 40417, a speed input command is received.

Step 40418, adjusting the flying speed of the unmanned aerial vehicle during the flying process according to the speed input instruction, and determining the percentage of increase and decrease of the flying speed of the unmanned aerial vehicle.

Wherein, can include the percentage that unmanned aerial vehicle speed increased and decreased in the speed input instruction, therefore can directly obtain the percentage that unmanned aerial vehicle speed increased and decreased according to speed input instruction, further, can acquire current flight speed, according to the current flight speed and the percentage adjustment unmanned aerial vehicle of flight speed increase and decrease at the in-process airspeed of flying. For example, if the current flight speed is 5 m/s and the percentage of increase or decrease in speed is 20%, the flight speed of the drone is adjusted to 6 m/s.

Or, the speed input instruction includes the flying speed of the unmanned aerial vehicle to be adjusted, so that the current flying speed can be acquired, and the unmanned aerial vehicle is adjusted to the flying speed to be adjusted. Further, the increase and decrease percentage of the flight speed of the unmanned aerial vehicle can be determined according to the flight speed to be adjusted and the current flight speed.

Step 40419, linearly adjusting the percentage of increase and decrease of the spraying flow rate according to the percentage of increase and decrease of the flying speed.

Step 40420, obtaining a current spraying flow rate, and adjusting the current spraying flow rate according to an increase/decrease percentage of the spraying flow rate, wherein the increase/decrease of the spraying flow rate and the increase/decrease of the unmanned aerial vehicle speed are in a direct proportional relationship.

In prior art, for example, when adjusting unmanned aerial vehicle's airspeed increase, if not adjust and spray the velocity of flow, the velocity of flow that sprays of shower nozzle is unchangeable, because unmanned aerial vehicle's airspeed grow, is equivalent to and stops the time of unit distance and shorten, then sprays to the unit distance by the material quality that sprays compare before the velocity adjustment, must diminish to lead to before the velocity adjustment and after the velocity adjustment, spray the material inhomogeneous.

In this embodiment, in order to achieve uniform spraying, it is preferable that when the flying speed increases, that is, when the time equivalent to stay at the unit distance becomes short, in order to ensure that the difference between the mass of the substance sprayed to the unit distance before the speed adjustment is not large, the spraying flow rate is correspondingly increased; when the flying speed is reduced, namely the time of staying at the unit distance is prolonged, the corresponding control spraying flow rate is also reduced, namely the current spraying flow rate can be linearly adjusted according to the increase and decrease percentage of the spraying flow rate.

Preferably, in order to further guarantee that the substances needing to be sprayed are sprayed in the flying distance, the increase and decrease percentage of the flying speed is equal to the increase and decrease percentage of the spraying flow speed, and the increase and decrease of the spraying flow speed and the increase and decrease of the flying speed of the unmanned aerial vehicle are in a direct proportion relation. I.e. if the flying speed is increased by 20%, the corresponding spray flow rate is also increased by 20%.

It should be noted that, in this embodiment, both the first embodiment and the second embodiment need to be executed after step 4031 or step 4032. In particular, however, the second embodiment may be performed after the first embodiment. Alternatively, the second embodiment may be performed before the first embodiment. Alternatively, only one of the two embodiments may be implemented.

In addition, in the two embodiments, the speed input command may be sent through a speed input element, and the speed input element may be the same as the speed input element in the second embodiment and the third embodiment.

According to the spraying control method for the unmanned aerial vehicle, when the flying speed of the unmanned aerial vehicle is adjusted in the flying process, the spraying flow rate can be correspondingly adjusted, and spraying uniformity is achieved.

EXAMPLE five

Fig. 5 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a fifth embodiment of the present invention, and as shown in fig. 5, on the basis of the embodiment shown in fig. 1, the spraying control method of the unmanned aerial vehicle includes:

step 501, obtaining the flight distance from the spraying starting point to the spraying end point of the unmanned aerial vehicle in a specific area.

Step 502, selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle.

Step 5031, if the spraying flow rate is selected, calculating the flying speed according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the flying distance.

Step 5032, if the selected flying speed is the flying speed, calculating the spraying flow rate according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance.

For specific implementation of step 501, step 502, step 5031, and step 5032, reference may be made to step 101, step 102, step 1031, and step 1032 in the first to third embodiments, which are not described herein again.

Step 5041, adjusting the spraying flow rate of the unmanned aerial vehicle in the flight process, and automatically adjusting the flight speed of the unmanned aerial vehicle.

Wherein, the speed of flow that sprays of adjustment unmanned aerial vehicle in flight process can be for unmanned aerial vehicle automatic adjustment, perhaps, also can adjust airspeed through receiving the speed of flow input instruction.

Wherein, adjust the velocity of flow of spraying through receiving the velocity of flow instruction, and then the automatic adjustment airspeed can be realized through following two kinds of implementation modes.

The first embodiment:

step 50411, receiving a flow rate input command, wherein the flow rate input command includes information of a third spraying flow rate.

And step 50412, adjusting the spraying flow rate of the unmanned aerial vehicle in the flight process according to the information of the third spraying flow rate.

Specifically, the current spraying flow rate is obtained, and if the current spraying flow rate is equal to the third spraying flow rate, the current spraying flow rate is kept unchanged; if the current spraying flow rate is not equal to the third spraying flow rate, the unmanned aerial vehicle is controlled to spray at the third spraying flow rate.

Step 50413, obtain remaining flight distance to be sprayed and total amount of remaining material.

At step 50414, a remaining spray time is determined based on the total amount of remaining material and the third spray flow rate.

Specifically, the remaining spray time is determined by dividing the total amount of remaining material by the third spray flow rate.

At step 50415, a third flying speed is determined according to the remaining flying distance to be sprayed and the remaining spraying time.

Specifically, the flight distance remaining to be sprayed is divided by the remaining spraying time to determine the third flight speed.

At step 50416, the current airspeed is adjusted based on the third airspeed.

Specifically, the current flight speed is obtained, and the current flight speed is adjusted to be the third flight speed.

According to the third flight speed determined by the embodiment, the spraying of the material can be finished and the material can be uniformly sprayed when the spraying end point is reached at the third flight speed and the third spraying flow speed.

The second embodiment:

at 50417, a flow rate input command is received.

And 50418, adjusting the spraying flow rate of the unmanned aerial vehicle in the flight process according to the flow rate input instruction, and determining the increase and decrease percentage of the spraying flow rate.

Wherein, can include the percentage that the velocity of flow increased and decreased among the velocity of flow input instruction, therefore can directly obtain the percentage that sprays the velocity of flow increase and decrease according to velocity of flow input instruction, and is further, can spray the velocity of flow at the flight in-process according to current spraying velocity of flow and the percentage adjustment unmanned aerial vehicle that sprays the velocity of flow increase and decrease. For example, if the current spraying flow rate is 50 ml/s, and the percentage of increase or decrease of the spraying flow rate is 20%, the flight speed of the drone is adjusted to be 60 ml/s.

Or, the flow rate input instruction includes the spraying speed to be adjusted of the unmanned aerial vehicle, and the percentage of increase and decrease of the spraying speed of the unmanned aerial vehicle can be determined according to the current spraying speed and the spraying speed to be adjusted.

Step 50419, linearly adjusting the percentage of increase and decrease of the flying speed according to the percentage of increase and decrease of the flow speed.

And 50420, acquiring the current flying speed, and adjusting the current flying speed according to the increase and decrease percentage of the flying speed, wherein the increase and decrease of the flying speed is in direct proportion to the increase and decrease of the spraying flow rate.

In the prior art, for example, if the spraying velocity of unmanned aerial vehicle is adjusted to increase, if the flying velocity of unmanned aerial vehicle is not adjusted, that is, the flying velocity remains unchanged, because the spraying velocity of unmanned aerial vehicle becomes large, it is equivalent to stay under the same time condition of unit distance, the mass of the substance sprayed to unit distance will tend to increase, compared with before the spraying velocity of flow is adjusted, the amount difference of the substance sprayed to unit distance becomes large, that is, for a specific area on the ground, the sprayed substance is not uniform.

In this embodiment, in order to achieve uniform spraying, it is preferable that when the spraying flow rate is increased, that is, the flow rate sprayed to a unit length in a unit time is increased, and in order to ensure that the difference between the spraying amount of the substance sprayed to a unit distance is not large compared with that before the spraying flow rate is adjusted, the flying speed is correspondingly increased; when the spraying speed is reduced, the corresponding control flying speed is also reduced, namely the increase and decrease percentage of the flying speed can be linearly adjusted according to the increase and decrease percentage of the flow speed.

Preferably, in order to further ensure that the substances to be sprayed are sprayed within the flight distance, the percentage of increase and decrease of the spraying flow rate is equal to the percentage of increase and decrease of the spraying flow rate, and the increase and decrease of the flight speed is proportional to the increase and decrease of the spraying flow rate.

It should be noted that, in this embodiment, the first embodiment and the second embodiment need to be executed after step 5031 or step 5032. Alternatively, the second embodiment may be performed after the first embodiment. Alternatively, the second embodiment may be performed before the first embodiment. Alternatively, only one of the two embodiments may be implemented.

In addition, in the two embodiments, the flow rate input instruction may be issued through a flow rate input element, and the flow rate input element may be the same as the flow rate input element in the second embodiment and the third embodiment.

According to the spraying control method for the unmanned aerial vehicle, when the unmanned aerial vehicle adjusts the spraying flow rate in the flying process, the flying speed can be correspondingly adjusted, and spraying is uniform.

EXAMPLE six

On the basis of the first to fifth embodiments, the present embodiment further explains the flying height of the unmanned aerial vehicle during spraying. Fig. 6 is a schematic flow chart of a spraying control method of an unmanned aerial vehicle according to a sixth embodiment of the present invention, and as shown in fig. 6, the method includes:

step 601, obtaining the flight distance from the spraying starting point to the spraying end point of the unmanned aerial vehicle in the specific area.

Step 602, selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle.

And 6031, if the spraying flow rate is selected, calculating the flying speed according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the flying distance.

Step 6032, if the selected flying speed is the flying speed, calculating the spraying flow rate according to the total amount of the substances required to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance.

The specific implementation of step 601, step 602, step 6031, and step 6032 may refer to step 101, step 102, step 1031, and step 1032 in the first embodiment, or may refer to steps that are the same as those performed in other embodiments, and are not described herein again.

And step 604, controlling the unmanned aerial vehicle to fly at the height to be flown.

Wherein the height to be flown may be preset.

Alternatively, the height to be flown may be issued by a height input. For example, the height to be flown may be input by the operator through the height input key.

Alternatively, considering that the flying height affects the area covered by the spray per unit time when the spray assembly sprays if a nozzle having a certain spray angle is used, it is preferable that the flying height is automatically corresponding according to the type of the spray assembly.

Specifically, the flying height automatically corresponds to the type of the spraying assembly, and comprises the following steps:

and step 6041, acquiring the type information of the spraying assembly installed on the unmanned aerial vehicle.

Step 6042, determining the spraying angle according to the pre-stored corresponding relation between the type information of the spraying component and the spraying angle.

Fig. 6A is a schematic diagram illustrating a relationship among a spraying angle, a transverse distance, and a spraying height according to a sixth embodiment of the present invention. In fig. 6A, U is the spray angle of the nozzle in the spray assembly and R1 is the spray radius that the nozzle with the spray angle U can cover per unit time. Where a is a spraying starting point and B is a spraying ending point, the description of the spraying route in fig. 1A in the embodiment can be specifically referred to.

Unmanned aerial vehicle can detect the installation information that sprays the subassembly to obtain the type information that sprays the subassembly according to the installation information, and then confirm the angle U that sprays that corresponds the nozzle according to this type information.

And 6043, acquiring the horizontal distance required to be sprayed by the unmanned aerial vehicle in unit time.

The transverse distance to be sprayed per unit time can be preset or input by a user. In the present embodiment, the lateral distance is described as R1.

And step 6044, determining the height to be flown according to the transverse distance and the spraying angle.

Specifically, according to a mathematical relationship, the height H to be flown can be determined by the lateral distance R1 and the spray angle U. For example, the flight height H may be determined approximately by dividing the lateral distance R1 by the spray angle U, although more parameters may be obtained to determine a more accurate height to be flown.

When the number of the nozzles of the spray assembly is plural, the number of the nozzles and the spray angle of the nozzles may be included in the type information of the spray assembly, and the spray radius of each nozzle may be determined according to the number of the nozzles and the spray angle.

Fig. 6B is a schematic diagram illustrating a relationship among a spraying angle, a transverse distance, and a spraying height according to a sixth embodiment of the present invention. Fig. 6B illustrates two nozzles, where L is the lateral distance and U is the spray angle of the nozzles, as shown in fig. 6B. R2 is the spray radius that a nozzle with a spray angle U can cover per unit time at a height H.

For example, the spray radius R2 of each nozzle may be determined by dividing L by 2 by the lateral distance L and the number of nozzles, i.e., 2 nozzles, and further, the spray height H may be determined according to the spray radius R2 and the spray angle U of each nozzle.

In the spraying control method provided in this embodiment, the heights to be flown are automatically corresponding according to the types of the spraying assemblies, and specifically, the corresponding heights to be flown can be determined according to the spraying angles, so that the uniformity of the spraying process can be ensured under the condition that the transverse distance is determined.

Preferably, the number of the nozzles is even and the nozzles are symmetrically arranged, so that the uniformity of spraying can be better ensured.

On the basis of the above embodiment, for example, if the height to be flown determined in step 6044 is the height to be flown calculated by taking the altitude of the spraying starting point as the reference zero point, for example, 50 meters, if the altitude information is not considered, the unmanned aerial vehicle always keeps flying at a height of 50 meters away from the reference zero point, and if the spraying angle is determined, the altitude corresponding to the position where the unmanned aerial vehicle flies at this time is 10 meters higher than the reference zero point, if the flying height of the unmanned aerial vehicle is not adjusted accordingly, the spraying radius, that is, the spraying area that can be covered per unit time is affected. Therefore, optionally, after the step 6044, the method may further include:

step 6051, obtaining the position information where the unmanned aerial vehicle flies, the altitude information corresponding to the position information, and the altitude information of the current flight of the unmanned aerial vehicle.

And step 6052, updating the height to be flown according to the altitude information corresponding to the position information and the altitude information of the current flight of the unmanned aerial vehicle.

For example, when the unmanned aerial vehicle flies to a position 10 meters higher than the reference zero altitude, the flying height of the unmanned aerial vehicle can be correspondingly controlled to be 10 meters higher than the current flying height in the next time period, so that the influence of the change of the altitude on the spraying area covered by spraying is avoided.

The altitude of the unmanned aerial vehicle can be measured by using equipment such as a barometer and a laser range finder which are carried on the unmanned aerial vehicle.

EXAMPLE seven

On the basis of the first to sixth embodiments, if the spraying assembly has directionality during installation, that is, once the direction of the drone changes, for example, the yaw angle of the drone is changed by an operator misoperation, the distribution of the material when sprayed onto the ground may change. In order to avoid the above influence, the method for controlling spraying of an unmanned aerial vehicle provided in this embodiment may further include:

when control unmanned aerial vehicle takes off, locking unmanned aerial vehicle's yaw angle to make unmanned aerial vehicle aircraft nose and fuselage keep fixed angle at flight in-process, so that spray evenly.

The spraying control method for the unmanned aerial vehicle provided by the embodiment locks the yaw angle of the unmanned aerial vehicle when the unmanned aerial vehicle is controlled to take off, so that the spraying uniformity of the unmanned aerial vehicle in the spraying process can be ensured to a certain extent.

An application scenario of the above-mentioned locking of the yaw angle of the unmanned aerial vehicle is that the unmanned aerial vehicle controls the unmanned aerial vehicle to take off and simultaneously locks the yaw angle of the unmanned aerial vehicle in a corresponding mode by receiving a mode selection instruction. When the operator needs to change the yaw angle of unmanned aerial vehicle, then need send the instruction of withdrawing from this mode, just can control unmanned aerial vehicle and carry out the operation of driftage after withdrawing from this mode, can avoid the yaw angle change that the maloperation unmanned aerial vehicle leads to like this.

Optionally, the method may further include: the flight state of the unmanned aerial vehicle is detected, whether the unmanned aerial vehicle is in an abnormal state or not is judged, and if the result is yes, an alarm is given out to prompt a user whether the user needs to return to the air immediately or not.

Wherein, flight status includes any one or more in electric quantity information, remaining medicine volume information, the electric quantity information of remote controller of unmanned aerial vehicle.

Correspondingly, when the flight state of the unmanned aerial vehicle is detected to be the electric quantity information of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity of the unmanned aerial vehicle is lower than a preset threshold value;

when the detected flight state of the unmanned aerial vehicle is the residual medicine amount information of the unmanned aerial vehicle, the corresponding abnormal state is that the residual medicine amount is lower than a preset threshold value;

when the flight state of the unmanned aerial vehicle is detected to be the electric quantity information of the remote controller of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity of the remote controller is lower than a preset threshold value.

When the flight state of the unmanned aerial vehicle is detected to include more than two kinds of information, the corresponding abnormal state is that the unmanned aerial vehicle is judged to be in the abnormal state as long as one of the parameter information is lower than the preset threshold value. For example, when the flight state includes the electric quantity information and the remaining medicine amount information of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity information and/or the remaining medicine amount information of the unmanned aerial vehicle are lower than a preset threshold value.

In the unmanned aerial vehicle spraying control method provided by the embodiment, the flight state of the unmanned aerial vehicle is detected, whether the unmanned aerial vehicle is in an abnormal state is judged, and if the result is yes, an alarm can be given out, so that whether a user needs to return to the air immediately can be prompted, one or more problems in power waste caused by unmanned aerial vehicle uncontrolled unmanned aerial vehicle and hovering state after pesticide spraying is finished, wherein the problems are caused by crash of the unmanned aerial vehicle when low power is caused under the abnormal state, and the remote controller is low in power.

Example eight

The present embodiment provides an unmanned aerial vehicle, configured to execute the spraying control method according to the first to seventh embodiments, and fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an eighth embodiment of the present invention, as shown in fig. 7, the unmanned aerial vehicle includes:

one or more processors 81, acting alone or in conjunction, the processor 81 being configured to: obtaining the flight distance from the spraying starting point to the spraying end point of the unmanned aerial vehicle in a specific area, and selecting one of the following two parameters: the flight speed of the unmanned aerial vehicle and the spraying flow rate of the unmanned aerial vehicle.

Wherein, if the processor 81 selects the flying speed, the spraying flow rate is calculated according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance. Specifically, the spraying flow rate is calculated according to the total amount of the substances, the flying distance and the selected flying speed, and the spraying flow rate can be calculated as long as the substances are used up and uniformly sprayed within the flying distance.

And after the processor 81 calculates the spraying flow rate, the unmanned aerial vehicle is controlled to spray at the selected flying speed and the calculated spraying flow rate.

If the processor 81 selects the spraying flow rate, the flying speed is calculated according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected spraying flow rate and the flying distance.

After the processor 81 calculates the flight speed, the unmanned aerial vehicle is controlled to spray at the set spraying speed and the calculated flight speed.

Wherein, optionally, this unmanned aerial vehicle still includes GPS orientation module 80, and orientation module 80 is connected with the communication of treater 81, sprays the flight distance that the starting point to sprayed the terminal point and can acquire through GPS. For example, the GPS coordinates of the spraying start point and the spraying end point can be determined by GPS, and the flight distance from the spraying start point to the spraying end point can be acquired.

Alternatively, the flight distance may be stored in the processor 81 in advance. For example, according to the specific area, a flight route may be previously set in the processor 81, and the flight route includes: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray. The processor 81 further obtains the flight distance from the spraying start point to the spraying end point according to the preset flight path.

When the processor 81 specifically selects the flight speed of the unmanned aerial vehicle and the spraying speed of the unmanned aerial vehicle, an optional implementation manner is that the processor 81 receives a mode selection instruction, the mode selection instruction includes selected parameter information, and further, the processor 81 determines the selected parameter according to the selected parameter information.

It should be noted that the total amount of the material that needs to spray need not necessarily equal to the total amount of all materials that unmanned aerial vehicle carried, can be the arbitrary numerical value that the user set for in advance, for example: 1/2 or 2/3 and the like of the total amount of all materials carried by the drone. However, it is preferable that the total amount of the material to be sprayed is equal to the total amount of the material carried by the drone, because such a flight can reduce the dead load of the drone and maximize the use of the flight power (e.g., battery power). For avoiding repeated description, the embodiment of the present invention is described by taking the total amount of the substances to be sprayed being equal to the total amount of all the substances carried by the unmanned aerial vehicle as an example, but this does not mean that the present invention excludes other embodiments in which the total amount of the substances to be sprayed is less than the total amount of all the substances carried by the unmanned aerial vehicle.

Alternatively, the total amount of material to be sprayed may be pre-stored in the processor 81, for example if the drone is only able to install one type and a fixed number of spray assemblies, the total amount of material may be pre-stored in the processor 81.

Of course, the total amount of material to be sprayed may also be input by the user and received by the processor 81, for example, the operator may input the total amount of material via a display screen and received by the processor.

Alternatively, the processor 81 automatically obtains the total amount of material carried by the drone to determine the total amount of material to be sprayed. For example, by installing a corresponding weight sensor, the processor 81 can automatically obtain information of the total amount of material carried by the drone when the spray assembly is installed onto the drone. Of course, the automatic acquisition of the total amount of the substance is not limited to the manner of using the gravity sensor, and the embodiment is only an example, but not limited thereto. On this basis, can confirm the material total amount that needs to spray according to the whole material total amount that unmanned aerial vehicle carried. For example, if the total amount of the substances to be sprayed, which is set in advance by the user, is 1/2 of the total amount of all the substances carried by the unmanned aerial vehicle, the total amount of the substances to be sprayed can be determined according to the total amount of all the substances as long as 1/2 of the total amount of all the substances is required.

The substance to be sprayed may be in any form of solid, liquid, or gas, and for example, the substance to be sprayed may be a liquid form of an agricultural chemical, or water, a solid form of seeds, a gas form of an agricultural chemical, or the like. Of course, the sprayed substance can be any two or three mixed substances of solid, liquid and gas.

In the unmanned aerial vehicle provided by this embodiment, the processor 81 can calculate the matched spraying flow rate according to the total amount of the material, the flight distance and the flight speed, or calculate the matched flight speed according to the total amount of the material, the flight distance and the spraying flow rate, so as to ensure that the spraying can be completed by spraying the material at the spraying flow rate and the flight speed, and the spraying can be uniform, thereby avoiding the problem that the unmanned aerial vehicle is not sprayed to the crops in a certain area and the medicines are already used up because an operator sets the flight speed and the spraying flow rate easily to cause the improper flight speed and spraying flow rate; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

Example nine

On the basis of the eighth embodiment, the unmanned aerial vehicle in the above embodiment is further explained. On the basis of the unmanned aerial vehicle shown in fig. 7, fig. 8 is a schematic structural diagram of the unmanned aerial vehicle provided in the ninth embodiment of the present invention, and as shown in fig. 8, the unmanned aerial vehicle provided in this embodiment may further include at least one flow rate input element 82.

When the processor 81 selects the spraying flow rate, the processor 81 is specifically configured to calculate the flying speed according to the total amount of the substance that the unmanned aerial vehicle needs to spray (in the following embodiments, referred to as the total amount of the substance for short), the selected spraying flow rate, and the flying distance: and acquiring the selected spraying flow rate, acquiring spraying time according to the selected spraying flow rate and the total amount of the substances, calculating a first flight speed according to the flight distance and the spraying time, and taking the first flight speed as the current flight speed.

Wherein the selected spraying flow rate of the processor 81 may be pre-stored in the processor 81.

Alternatively, the processor 81 may automatically respond according to the type of spray assembly. Specifically, the processor 81 may determine the selected spraying flow rate by obtaining type information of the spraying component installed on the unmanned aerial vehicle, and further according to a pre-stored correspondence between the type information of the spraying component and the spraying flow rate.

For example, the drone may be provided with sensors at respective spray assembly mounting locations to obtain type information of the spray assemblies. For example, each spraying assembly installation department is provided with the sensor, and each sensor all has its one-to-one sign, detects the installation information of the spraying assembly who corresponds with this sensor through the sensor, when the sensor discerned that there is the spraying assembly to install to unmanned aerial vehicle on, then send the sign of self to processor 81, processor 81 is through the sign information that discerns the sensor and send to and the corresponding relation of sign information and spraying assembly signal according to prestoring discerns what kind of spraying assembly is installed. The type of the sensor is not limited, and may be, for example, a gravity sensor, an optical sensor, a pressure sensor, a liquid flow rate sensor, or the like.

Optionally, the drone further comprises at least one flow rate input 82. The selected spray flow rate obtained by the processor 81 may also be issued by the flow rate input 82. For example, in one application scenario, the operator triggers the flow rate input element 82, and the flow rate input element 82 issues an input command, and when the processor 81 receives the input command, the selected spraying flow rate is determined according to the input command.

Alternatively, the flow rate input member 82 may be one or a plurality thereof. Wherein, when the flow rate input 82 is one, that is, the selected spraying flow rate is sent through one flow rate input 82, the processor 81 can identify the spraying flow rate corresponding to the triggering time by detecting the time when the flow rate input 82 is triggered.

If there are multiple flow rate inputs 82, each flow rate input 82 may emit a corresponding spray flow rate. For example, the flow rate inputs may be 4, and accordingly, the first flow rate input may correspond to a spray flow rate of 30 ml/sec, the second flow rate input may correspond to a spray flow rate of 40 ml/sec, the third flow rate input may correspond to a spray flow rate of 50 ml/sec, and the fourth flow rate input may correspond to a spray flow rate of 60 ml/sec. It should be noted that the number of milliliters in this embodiment is only an exemplary number, but not limited thereto.

Wherein, flow rate input 82 can be provided on the drone or on the drone's remote control.

In addition, the flow rate input 82 includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

In the unmanned aerial vehicle provided by this embodiment, the processor 81 can calculate the first flight speed according to the total amount of the material, the flight distance and the spraying flow rate, so that the spraying can be performed at the selected spraying flow rate and the first flight speed to finish the spraying of the material, and the spraying can be performed uniformly, thereby preventing an operator from simultaneously setting the flight speed which is easily caused by the flight speed and the spraying flow rate and preventing the unmanned aerial vehicle which is caused by the inappropriate spraying flow rate from not spraying the crop in a certain area, and the medicine is already used up; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

Example ten

On the basis of the eighth embodiment, the unmanned aerial vehicle in the above embodiment is further explained. Fig. 9 is a schematic structural diagram of an unmanned aerial vehicle according to a tenth embodiment of the present invention, and as shown in fig. 9, the unmanned aerial vehicle includes: one or more processors 81, a flow rate input 82, and a speed input 83.

When the processor 81 selects the flying speed, the processor 81 is specifically configured to calculate the spraying flow rate according to the total amount of the substances to be sprayed by the unmanned aerial vehicle, the selected flying speed and the flying distance: acquiring the selected flight speed, and acquiring spraying time according to the selected flight speed and flight distance; and calculating a first spraying flow rate according to the total amount of the substances and the spraying time, and taking the first spraying flow rate as the current spraying flow rate.

Alternatively, the selected spraying speed obtained by the processor 81 may be pre-stored in the processor 81;

or, the unmanned aerial vehicle still includes: a speed input 83 for emitting a selected spraying speed, the speed input 83 is in communication with the processor 81, and the processor 81 obtains the selected spraying speed according to the selected flying speed emitted by the speed input 83.

The processor 81 is also configured to receive a speed input command from a speed input.

The speed input member 83 is plural, and each speed input member can send out information of corresponding flying speed.

The speed input member 83 includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

Speed input 83 is provided on the drone or on the drone's remote control.

In the unmanned aerial vehicle provided by this embodiment, the processor 81 may calculate the first spraying speed according to the total amount of the material, the flying distance, and the selected flying speed, so as to ensure that the material is sprayed at the first spraying flow rate and the selected flying speed, and the material is uniformly sprayed, thereby preventing the unmanned aerial vehicle, which is caused by the fact that the operator sets the flying speed and the spraying flow rate at the same time, and the spraying flow rate is inappropriate, from not spraying the crop in a certain area, and the medicine is already used up; or the unmanned plane finishes the operation in a certain area in advance, but the medicine has a large amount of residual problems.

EXAMPLE eleven

On the basis of the eighth to tenth embodiments, as shown in fig. 7 to 9, the processor 81 is further configured to adjust the flight speed of the unmanned aerial vehicle during the flight process, and the spraying flow rate of the unmanned aerial vehicle is automatically adjusted; or, be used for adjusting unmanned aerial vehicle at the in-process of flying spray velocity of flow, unmanned aerial vehicle's airspeed automatic adjustment.

When the processor 81 executes "adjust the flying speed of the unmanned aerial vehicle in the flying process, and automatically adjust the spraying flow rate of the unmanned aerial vehicle", there may be two specific embodiment modes as follows:

the first embodiment:

the processor 81 receives a speed input command including information on the second airspeed.

Further, the processor 81 adjusts the flight speed of the unmanned aerial vehicle during the flight process according to the information of the second flight speed. Specifically, the processor 81 obtains the current flying speed of the unmanned aerial vehicle, and if the current flying speed is equal to the second flying speed, the current flying speed is kept unchanged. And if the current flight speed is not equal to the second flight speed, controlling the unmanned aerial vehicle to fly at the second flight speed.

On the basis, the processor 81 obtains the flight distance to be sprayed and the total amount of the residual substances, determines the residual spraying time according to the flight distance to be sprayed and the second flight speed, and determines the second spraying flow rate according to the total amount of the residual substances and the residual spraying time.

Specifically, the processor 81 determines the remaining spraying time by dividing the flight distance remaining to be sprayed by the second flight speed. And determining a second spraying flow rate according to the total amount of the residual substances divided by the residual spraying time, acquiring the current spraying flow rate, and adjusting the current spraying flow rate to be the second spraying flow rate.

The second embodiment:

the processor 81 receives the speed input instruction, adjusts the flying speed of the unmanned aerial vehicle in the flying process according to the speed input instruction, and determines the percentage of increase and decrease of the speed of the unmanned aerial vehicle. Further, the processor 81 linearly adjusts the increase and decrease percentage of the spraying flow rate according to the increase and decrease percentage of the flying speed to obtain the current spraying flow rate, and adjusts the current spraying flow rate according to the increase and decrease percentage of the spraying flow rate, wherein the increase and decrease of the spraying flow rate and the increase and decrease of the unmanned aerial vehicle speed are in a direct proportion relation. . Specifically, the percentage that unmanned aerial vehicle speed increased and decreased can be included in the speed input instruction, therefore processor 81 can directly obtain the percentage that unmanned aerial vehicle speed increased and decreased according to the speed input instruction, and further, processor 81 obtains current flight speed, according to current flight speed and the percentage that flight speed increased and decreased, adjusts unmanned aerial vehicle's airspeed at flight in-process. For example, if the processor 81 determines that the current flight speed is 5 m/s and the percentage of speed increase or decrease is 20%, the processor 81 adjusts the flight speed of the drone to 6 m/s. Or, the speed input instruction includes the flying speed of the unmanned aerial vehicle to be adjusted, and the processor 81 adjusts the unmanned aerial vehicle to the flying speed to be adjusted after acquiring the current flying speed. Further, the processor 81 may determine the percentage of increase or decrease of the flight speed of the drone according to the flight speed to be adjusted and the current flight speed.

In this embodiment, in order to achieve uniform spraying, it is preferable that when the flying speed increases, that is, when the time equivalent to staying at the unit distance becomes short, in order to ensure that the difference between the mass of the substance sprayed to the unit distance before the speed adjustment is not large, the processor 81 increases the spraying flow rate accordingly; when the flying speed is reduced, that is, the time of staying at the unit distance is prolonged, the processor 81 correspondingly controls the spraying flow rate to be reduced, that is, the current spraying flow rate can be linearly adjusted according to the increase and decrease percentage of the spraying flow rate.

Preferably, in order to further ensure that the substances to be sprayed are sprayed within the flying distance, the processor 81 may make the percentage of increase and decrease of the flying speed equal to the percentage of increase and decrease of the spraying flow speed, and the increase and decrease of the spraying flow speed and the increase and decrease of the flying speed of the unmanned aerial vehicle are in a proportional relation. I.e. if the flying speed is increased by 20%, the corresponding spray flow rate is also increased by 20%.

In addition, in both embodiments, the speed input command may be issued through the speed input member 83. The speed input member 83 may be the same as the speed input member 83 in the ninth embodiment and the tenth embodiment, and please refer to the ninth embodiment and the tenth embodiment specifically, which will not be described herein again.

The unmanned aerial vehicle that provides in this embodiment, when unmanned aerial vehicle adjusted the airspeed at the in-process of flight, treater 81 can spray the velocity of flow by corresponding adjustment, realizes spraying evenly.

Example twelve

On the basis of the above eight to ten embodiments, as shown in fig. 7 or fig. 8, when the processor 81 executes "for adjusting the spraying flow rate of the unmanned aerial vehicle during the flight, the flight speed of the unmanned aerial vehicle is automatically adjusted", there may be two specific embodiment modes as follows:

the first embodiment:

the processor 81 is configured to receive a flow rate input command including information on a third spray flow rate. Further, processor 81 adjusts the unmanned aerial vehicle spraying flow rate during the flight according to the information of the third spraying flow rate.

Specifically, the processor 81 obtains the current spraying flow rate, and if the current spraying flow rate is equal to the third spraying flow rate, the current spraying flow rate is kept unchanged; if the current spraying flow rate is not equal to the third spraying flow rate, the unmanned aerial vehicle is controlled to spray at the third spraying flow rate.

Further, the processor 81 also obtains the remaining flying distance to be sprayed and the remaining total amount of the remaining substances, determines the remaining spraying time according to the remaining total amount of the remaining substances and the third spraying flow rate, determines the third flying speed according to the remaining flying distance to be sprayed and the remaining spraying time, and adjusts the current flying speed according to the third flying speed.

The second embodiment:

the processor 81 is used for receiving a flow rate input instruction, adjusting the spraying flow rate of the unmanned aerial vehicle in the flight process according to the flow rate input instruction, and determining the increase and decrease percentage of the spraying flow rate. Further, the processor 81 linearly adjusts the increase and decrease percentage of the flying speed according to the increase and decrease percentage of the flow rate to obtain the current flying speed, and adjusts the current flying speed according to the increase and decrease percentage of the flying speed, wherein the increase and decrease of the flying speed is proportional to the increase and decrease of the spraying flow rate. .

Specifically, can include the percentage that the velocity of flow increased and decreased among the velocity of flow input instruction, therefore processor 81 can directly obtain the percentage that sprays the velocity of flow increase and decrease according to velocity of flow input instruction, and is further, processor 81 can be according to current spraying the velocity of flow and spraying the velocity of flow that the percentage that sprays the velocity of flow increase and decrease adjusts unmanned aerial vehicle and spray the velocity of flow at the flight in-process. For example, if the current spraying flow rate is 50 ml/s, the processor 81 determines that the spraying flow rate is increased by 20%, and then the flight speed of the drone is adjusted to 60 ml/s.

Or, the flow rate input instruction includes the spraying speed to be adjusted by the unmanned aerial vehicle, and then the processor 81 may determine the percentage of increase and decrease of the spraying speed of the unmanned aerial vehicle according to the current spraying speed and the spraying speed to be adjusted.

In this embodiment, in order to achieve uniform spraying, it is preferable that when the spraying flow rate increases, that is, the flow rate sprayed to a unit length in a unit time increases, and in order to ensure that the difference between the spraying amount of the substance sprayed to a unit distance is not large compared with that before the spraying flow rate is adjusted, the processor 81 controls the flying speed to increase accordingly; when the spraying speed is decreased, the corresponding control flying speed of the processor 81 is also decreased, that is, the increase and decrease percentage of the flying speed can be linearly adjusted according to the increase and decrease percentage of the flow speed.

Preferably, in order to further ensure that the substances to be sprayed are sprayed completely within the flight distance, the processor 81 may adjust the percentage of increase and decrease of the spraying flow rate to be equal to the percentage of increase and decrease of the spraying flow rate, and the increase and decrease of the flight speed is proportional to the increase and decrease of the spraying flow rate.

In addition, in the two embodiments, the flow rate input instruction may be sent by the flow rate input element 82, and the flow rate input element 82 may be the same as the flow rate input element 82 in the ninth embodiment and the tenth embodiment, which please refer to the ninth embodiment and the tenth embodiment specifically, and will not be described again here.

The unmanned aerial vehicle that provides in this embodiment, when unmanned aerial vehicle sprayed the velocity of flow at the in-process adjustment of flight, treater 81 can be corresponding adjustment airspeed, and the realization sprays evenly.

EXAMPLE thirteen

In this embodiment, on the basis of the eighth to twelfth embodiments, the flying height of the unmanned aerial vehicle is further explained. As shown in fig. 7 to 9, the processor 81 is also used for controlling the drone to fly at the height to be flown.

Wherein the height to be flown may be preset in the processor 81, or the height to be flown may be sent by the height input. For example, the height to be flown may be input by the operator through the height input key.

Alternatively, considering that the flying height affects the area covered by the spraying per unit time when the spraying component sprays if a nozzle with a certain spraying angle is used, it is preferable that the flying height is automatically and correspondingly obtained by the processor 81 according to the type of the spraying component.

Specifically, the flying height to be obtained by the processor 81 according to the type of the spraying component automatically includes: the processor 81 acquires the type information of the spraying assembly installed on the unmanned aerial vehicle, determines the spraying angle according to the pre-stored corresponding relation between the type information of the spraying assembly and the spraying angle, acquires the transverse distance required to be sprayed by the unmanned aerial vehicle in unit time, and determines the flying height to be treated according to the transverse distance and the spraying angle.

The transverse distance to be sprayed per unit time can be preset or input by a user.

In the unmanned aerial vehicle that provides in this embodiment, treat that the flying height is that processor 81 corresponds according to the type automation of spraying the subassembly, and is concrete, can confirm the corresponding flying height of treating according to spraying the angle to can guarantee under the condition that transverse distance is confirmed, spray the homogeneity of process.

On the basis of the above embodiment, the processor 81 is further configured to acquire the position information where the unmanned aerial vehicle flies, the altitude information corresponding to the position information, and the altitude information where the unmanned aerial vehicle currently flies, and update the height to be flown according to the altitude information corresponding to the position information and the altitude information where the unmanned aerial vehicle currently flies.

For example, when the unmanned aerial vehicle flies to a position 10 meters higher than the reference zero altitude during the flight, the processor 81 may correspondingly control the flying height of the unmanned aerial vehicle to be 10 meters higher than the current flying height in the next time period, so as to avoid the influence of the change of the altitude on the spraying area covered by the spraying.

On the basis of the above described embodiments, if the spraying assembly has directionality when installed, that is to say, once the direction of the drone changes, for example, the operator misoperates to change the yaw angle of the drone, the distribution of the substance when sprayed onto the ground will change. To avoid the above effect, optionally, the processor 81 is further configured to lock a yaw angle of the drone when controlling the takeoff of the drone, so that the head and the fuselage of the drone maintain a fixed angle during the flight, so that the spraying is uniform.

In the unmanned aerial vehicle that this embodiment provided, processor 81 can be when control unmanned aerial vehicle takes off, lock unmanned aerial vehicle's yaw angle to can guarantee to a certain extent that unmanned aerial vehicle sprays the homogeneity of spraying at the in-process of spraying, and can avoid the yaw angle change that the maloperation unmanned aerial vehicle leads to.

Optionally, the processor 81 is further configured to: the flight state of the unmanned aerial vehicle is detected, whether the unmanned aerial vehicle is in an abnormal state or not is judged, and if the result is yes, an alarm is given out to prompt a user whether the user needs to return to the air immediately or not.

Correspondingly, when the processor 81 detects that the flight state of the unmanned aerial vehicle is the electric quantity information of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity of the unmanned aerial vehicle is lower than a preset threshold value;

when the processor 81 detects that the flight state of the unmanned aerial vehicle is the residual medicine amount information of the unmanned aerial vehicle, the corresponding abnormal state is that the residual medicine amount is lower than a preset threshold value;

when the processor 81 detects that the flight state of the unmanned aerial vehicle is the electric quantity information of the remote controller of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity of the remote controller is lower than the preset threshold value.

When the processor 81 detects that the flight state of the unmanned aerial vehicle includes more than two types of information, the corresponding abnormal state is determined that the unmanned aerial vehicle is in the abnormal state as long as one of the parameter information is lower than the preset threshold value. For example, when the flight state includes the electric quantity information and the remaining medicine amount information of the unmanned aerial vehicle, the corresponding abnormal state is that the electric quantity information and/or the remaining medicine amount information of the unmanned aerial vehicle are lower than a preset threshold value.

In the unmanned aerial vehicle that this embodiment provided, processor 81 can detect unmanned aerial vehicle's flight state, judges whether unmanned aerial vehicle is in abnormal state, if the result is when yes, can send out the police dispatch newspaper to can indicate whether the user needs to return to the journey immediately, can prevent that unmanned aerial vehicle that leads to under abnormal state for example the crash when the low-power, remote controller low-power and the unmanned aerial vehicle that leads to are uncontrolled, pesticide sprays and is in the state of hovering and the extravagant one or more of electric power that leads to after finishing.

In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying control method of an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring the selected spraying flow rate, wherein the spraying flow rate is sent out through a flow rate input piece on a remote controller of the unmanned aerial vehicle;

acquiring spraying time according to the selected spraying flow rate and the total amount of the substances;

calculating a first flight speed according to the flight distance and the spraying time;

and controlling the unmanned aerial vehicle to spray at the current flight speed and the selected spraying flow rate by taking the first flight speed as the current flight speed.

2. The method of claim 1, wherein the flow rate input is a plurality of flow rate inputs, each flow rate input being capable of issuing a respective spray flow rate.

3. The method of claim 1 or 2, wherein the flow rate input comprises: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

4. The method of claim 1, wherein the range is obtained via a Global Positioning System (GPS).

5. The method of claim 1, wherein the flight distance is pre-stored.

6. The method according to claim 1, wherein the flight distance is determined according to a preset flight path, the flight path comprising: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray.

7. The method of any one of claims 1-6, further comprising:

and controlling the unmanned aerial vehicle to fly at the flying height.

8. Method according to claim 7, characterized in that the height to be flown is preset or issued by a height input or automatically corresponding according to the type of spraying assembly.

9. The method of claim 8, wherein the height to be flown automatically corresponding according to the type of spray assembly comprises:

acquiring type information of a spraying assembly installed on an unmanned aerial vehicle;

determining a spraying angle according to the corresponding relation between the type information of the pre-stored spraying assembly and the spraying angle;

acquiring the horizontal distance required to be sprayed by the unmanned aerial vehicle in unit time;

and determining the height to be flown according to the transverse distance and the spraying angle.

10. The method of claim 7, further comprising:

acquiring the position information of the unmanned aerial vehicle flying, the altitude information corresponding to the position information and the altitude information of the unmanned aerial vehicle flying currently;

and updating the height to be flown according to the altitude information corresponding to the position information and the altitude information of the current flight of the unmanned aerial vehicle.

11. The method of claim 1, further comprising:

when the unmanned aerial vehicle is controlled to take off, the yaw angle of the unmanned aerial vehicle is locked so that the unmanned aerial vehicle can spray evenly.

12. The method of claim 1, further comprising:

detecting the flight state of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle is in an abnormal state, and if so, giving an alarm to prompt a user whether to return to the air immediately.

13. The method of claim 12, wherein the flight status comprises any one or more of power information of the drone, remaining power information, and power information of a remote controller.

14. The method of claim 1, further comprising: and acquiring the total amount of substances to be sprayed by the unmanned aerial vehicle, wherein the total amount of the substances is any one of pre-storage, user input or automatic acquisition.

15. The method of claim 14, wherein the total amount of material to be sprayed is the total amount of material carried by the drone.

16. A spraying control method of an unmanned aerial vehicle is characterized by comprising the following steps:

receiving a flow rate input instruction, wherein the flow rate input instruction comprises information of a first spraying flow rate;

adjusting the spraying flow rate of the unmanned aerial vehicle in the flight process according to the first spraying flow rate information;

acquiring the remaining flying distance to be sprayed and the total amount of the remaining substances;

determining the remaining spraying time according to the information of the total amount of the remaining substances and the first spraying flow rate;

determining a first flying speed according to the remaining flying distance to be sprayed and the remaining spraying time;

and adjusting the current flight speed according to the first flight speed.

17. The method of claim 16, wherein the flow rate input command is issued through a flow rate input.

18. The method of claim 17, wherein the flow rate input is a plurality of flow rate inputs, each flow rate input being capable of issuing a corresponding spray flow rate.

19. The method of claim 17, wherein the flow rate input comprises: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

20. The method of claim 17, wherein the flow rate input is provided on a drone or on a remote control of the drone.

21. The method of any one of claims 16-20, further comprising:

and controlling the unmanned aerial vehicle to fly at the flying height.

22. Method according to claim 21, characterized in that the height to be flown is preset or issued by a height input or automatically corresponding according to the type of spraying assembly.

23. The method of claim 22, wherein the height to be flown automatically corresponding according to the type of spray assembly comprises:

24. The method of claim 21, further comprising:

25. The method of claim 16, further comprising:

26. The method of claim 16, further comprising:

27. The method of claim 26, wherein the flight status comprises any one or more of power information of the drone, remaining power information, and power information of a remote controller.

28. A spraying control method of an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring a selected flight speed, wherein the flight speed is sent out through a speed input piece on a remote controller of the unmanned aerial vehicle;

acquiring spraying time according to the selected flight speed and flight distance;

calculating a first spray flow rate based on the total amount of material and the spray time;

taking the first spraying flow rate as the current spraying flow rate;

and controlling the unmanned aerial vehicle to spray at the current spraying flow rate and the selected flying speed.

29. The method of claim 28, wherein the speed input is a plurality of speed inputs, each speed input being configured to provide information regarding a corresponding airspeed.

30. The method of claim 28, wherein the speed input comprises: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

31. The method of claim 28, wherein the range is obtained via a Global Positioning System (GPS).

32. The method of claim 28, wherein the flight distance is pre-stored.

33. The method of claim 28, wherein the flight distance is determined according to a preset flight path, the flight path comprising: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray.

34. The method of any one of claims 28-33, further comprising:

and controlling the unmanned aerial vehicle to fly at the flying height.

35. Method according to claim 34, characterized in that the height to be flown is preset or issued by a height input or automatically corresponding according to the type of spraying assembly.

36. The method of claim 35, wherein the height to be flown automatically corresponding to the type of spray assembly comprises:

37. The method of claim 34, further comprising:

38. The method of claim 28, further comprising:

39. The method of claim 28, further comprising:

40. The method of claim 39, wherein the flight status comprises any one or more of power information of the drone, remaining power information, and power information of a remote controller.

41. The method of claim 28, further comprising: and acquiring the total amount of substances to be sprayed by the unmanned aerial vehicle, wherein the total amount of the substances is any one of pre-storage, user input or automatic acquisition.

42. The method of claim 41, wherein the total amount of material to be sprayed is the total amount of material carried by the drone.

43. A spraying control method of an unmanned aerial vehicle is characterized by comprising the following steps:

receiving a speed input instruction, wherein the speed input instruction comprises information of a first flight speed;

adjusting the flight speed of the unmanned aerial vehicle in the flight process according to the information of the first flight speed;

determining the remaining spraying time according to the flying distance to be sprayed and the first flying speed;

determining a first spraying flow rate according to the total amount of the residual substances and the residual spraying time;

and adjusting the current spraying flow rate according to the first spraying flow rate.

44. The method of claim 43, wherein the speed input command is issued through a speed input.

45. The method of claim 44, wherein the speed input is a plurality of speed inputs, each speed input being configured to provide information regarding a corresponding airspeed.

46. The method of claim 44, wherein the speed input comprises: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

47. The method of claim 45, wherein the speed input is provided on a drone or on a remote control of the drone.

48. The method of any one of claims 43-47, further comprising:

and controlling the unmanned aerial vehicle to fly at the flying height.

49. The method of claim 48, wherein the height to be flown is preset or is issued by a height input or is automatically corresponded according to the type of spraying assembly.

50. The method of claim 49, wherein the height to be flown automatically corresponding to the type of spray assembly comprises:

51. The method of claim 48, further comprising:

52. The method of claim 43, further comprising:

53. The method of claim 43, further comprising:

54. The method of claim 53, wherein the flight status comprises any one or more of power information of the unmanned aerial vehicle, remaining power information, and power information of a remote controller.

55. A spraying control method of an unmanned aerial vehicle is characterized by comprising the following steps:

56. The method of claim 55, further comprising:

57. The method of claim 55, further comprising:

58. The method of claim 55, further comprising:

59. The method of claim 58, wherein the flight status comprises any one or more of power information of the drone, remaining power information, and power information of a remote controller.

60. The method of claim 55, wherein obtaining information about the type of spray assembly installed on the drone includes:

detecting installation information of the spraying assembly;

and acquiring the type information of the spraying assembly according to the installation information.

61. An unmanned aerial vehicle, comprising:

one or more processors, operating alone or in conjunction, the processors to:

62. A drone as claimed in claim 61, wherein the flow rate input is plural, each flow rate input being capable of issuing a respective spray flow rate.

63. A drone as claimed in claim 62, wherein the flow rate input includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

64. A drone as claimed in claim 61, further comprising: and the GPS positioning module is used for acquiring the flight distance.

65. A drone as in claim 61, wherein the processor is configured to obtain a pre-stored flight distance.

66. A drone in accordance with claim 61, wherein the processor is configured to determine a flight distance from a start point to an end point of the spray in accordance with a preset flight path, wherein the flight path includes: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray.

67. A drone as in any of claims 61-66, wherein the processor is further to:

and controlling the unmanned aerial vehicle to fly at the flying height.

68. A drone of claim 67, further comprising: the height input piece is used for inputting the height to be flown, and the height input piece is arranged on the unmanned aerial vehicle or on a remote controller of the unmanned aerial vehicle.

69. A drone as claimed in claim 68, wherein the processor is further configured to:

70. A drone according to claim 67, wherein the processor is further to:

and updating the flying height according to the altitude information corresponding to the position information and the altitude information of the current flight of the unmanned aerial vehicle.

71. A drone according to claim 61, wherein the processor is further to:

72. A drone according to claim 61, wherein the processor is further to:

73. A drone according to claim 72, wherein the processor detected flight status may include: and any one or more of electric quantity information of the unmanned aerial vehicle, residual medicine quantity information and electric quantity information of the remote controller.

74. A drone according to claim 61, wherein the processor is further to: and acquiring the total amount of substances to be sprayed by the unmanned aerial vehicle, wherein the total amount of the substances is any one of pre-storage, user input or automatic acquisition.

75. A drone according to claim 61, wherein the processor obtains the total amount of material to be sprayed as the total amount of material carried by the drone.

76. An unmanned aerial vehicle, comprising:

one or more processors, operating alone or in conjunction, the processors to:

and adjusting the current flight speed according to the first flight speed.

77. A drone as claimed in claim 76, wherein the flow rate input instructions received by the processor are issued by a flow rate input.

78. A drone according to claim 77, wherein the flow rate input is plural, each flow rate input being capable of issuing a respective spray flow rate.

79. A drone as claimed in claim 77, wherein the flow rate input includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

80. A drone according to claim 77, wherein the flow rate input is provided on the drone or on a remote control of the drone.

81. A drone as in any of claims 76-80, wherein the processor is further configured to:

and controlling the unmanned aerial vehicle to fly at the flying height.

82. A drone as claimed in claim 81, further comprising: the height input piece is used for inputting the height to be flown, and the height input piece is arranged on the unmanned aerial vehicle or on a remote controller of the unmanned aerial vehicle.

83. A drone as claimed in claim 82, wherein the processor is further configured to:

84. A drone of claim 81, wherein the processor is further to:

85. The drone of claim 76, wherein the processor is further configured to:

86. The drone of claim 76, wherein the processor is further configured to:

87. A drone according to claim 86, wherein the processor detected flight status may include: and any one or more of electric quantity information of the unmanned aerial vehicle, residual medicine quantity information and electric quantity information of the remote controller.

88. An unmanned aerial vehicle, comprising:

one or more processors, operating alone or in conjunction, the processors to:

and taking the first spraying flow rate as the current spraying flow rate.

89. A drone as claimed in claim 88, wherein the speed input is plural, each speed input being configured to send information on a corresponding flight speed.

90. A drone as claimed in claim 88, wherein the speed input includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

91. A drone as in claim 88, further comprising: and the GPS positioning module is used for acquiring the flight distance.

92. A drone as in claim 88, wherein the processor is configured to obtain a pre-stored flight distance.

93. A drone as claimed in claim 88, wherein the processor is configured to determine a flight distance from a start point to an end point of the spray based on a preset flight path, wherein the flight path includes: the spraying starting point, the spraying end point, the horizontal distance that the unmanned aerial vehicle unit interval need to spray and the vertical distance that the unmanned aerial vehicle unit cycle need spray.

94. A drone as in any of claims 88-93, wherein the processor is further configured to:

and controlling the unmanned aerial vehicle to fly at the flying height.

95. A drone according to claim 94, further comprising: the height input piece is used for inputting the height to be flown, and the height input piece is arranged on the unmanned aerial vehicle or on a remote controller of the unmanned aerial vehicle.

96. A drone as claimed in claim 95, wherein the processor is further configured to:

97. A drone according to claim 94, wherein the processor is further configured to:

98. A drone according to claim 88, wherein the processor is further configured to:

99. A drone according to claim 88, wherein the processor is further configured to:

100. A drone according to claim 99, wherein the processor detected flight status may include: and any one or more of electric quantity information of the unmanned aerial vehicle, residual medicine quantity information and electric quantity information of the remote controller.

101. A drone according to claim 88, wherein the processor is further configured to: and acquiring the total amount of substances to be sprayed by the unmanned aerial vehicle, wherein the total amount of the substances is any one of pre-storage, user input or automatic acquisition.

102. A drone as in claim 88, wherein the processor obtains the total amount of material to be sprayed as a total amount of material carried by the drone.

103. An unmanned aerial vehicle, comprising:

one or more processors, operating alone or in conjunction, the processors to:

104. A drone as in claim 103, wherein the processor is further configured to receive speed input instructions from a speed input.

105. A drone as claimed in claim 104, wherein the speed input is plural, each speed input being configured to send information on a corresponding flight speed.

106. A drone as claimed in claim 105, wherein the speed input includes: any one or more of a gear switch, a knob switch, a potentiometer, a linear switch and a touch display screen.

107. A drone as claimed in claim 105, wherein the speed input is provided on the drone or on a remote control of the drone.

108. A drone as claimed in any one of claims 103-107, wherein the processor is further configured to:

and controlling the unmanned aerial vehicle to fly at the flying height.

109. A drone as claimed in claim 108, further comprising: the height input piece is used for inputting the height to be flown, and the height input piece is arranged on the unmanned aerial vehicle or on a remote controller of the unmanned aerial vehicle.

110. A drone as claimed in claim 109, wherein the processor is further configured to:

111. A drone according to claim 108, wherein the processor is further configured to:

112. A drone as claimed in claim 103, wherein the processor is further configured to:

113. A drone as claimed in claim 103, wherein the processor is further configured to:

114. A drone of claim 113, wherein the processor detected flight status may include: and any one or more of electric quantity information of the unmanned aerial vehicle, residual medicine quantity information and electric quantity information of the remote controller.

115. An unmanned aerial vehicle, comprising:

one or more processors, operating alone or in conjunction, the processors to:

116. A drone of claim 115, wherein the processor is further configured to:

117. A drone of claim 115, wherein the processor is further configured to:

118. A drone of claim 115, wherein the processor is further configured to:

119. A drone of claim 118, wherein the processor detected flight status may include: and any one or more of electric quantity information of the unmanned aerial vehicle, residual medicine quantity information and electric quantity information of the remote controller.

120. A drone as claimed in claim 115, wherein the processor is specifically configured to:

detecting installation information of the spraying assembly;