CN109144093A - The method of adjustment and unmanned plane of unmanned plane flusher - Google Patents
The method of adjustment and unmanned plane of unmanned plane flusher Download PDFInfo
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- CN109144093A CN109144093A CN201710506908.3A CN201710506908A CN109144093A CN 109144093 A CN109144093 A CN 109144093A CN 201710506908 A CN201710506908 A CN 201710506908A CN 109144093 A CN109144093 A CN 109144093A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000000994 depressogenic effect Effects 0.000 claims abstract description 84
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 29
- 239000007921 spray Substances 0.000 claims description 28
- 210000000746 body region Anatomy 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 20
- 238000005507 spraying Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 9
- 230000000875 corresponding effect Effects 0.000 description 19
- 238000001514 detection method Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 239000003595 mist Substances 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 231100000674 Phytotoxicity Toxicity 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is suitable for air vehicle technique field, provide the method for adjustment and unmanned plane of unmanned plane flusher, this method comprises: obtaining wind speed information and wind direction information of the unmanned plane in operation, and obtain the flying height information of unmanned plane and the azimuth information of unmanned plane flusher；Flight angle of the unmanned plane relative to ground level is obtained, the wind-force depressed area of unmanned plane rotor is determined according to the flight angle and the flying height information；The orientation of the flusher is controlled according to the azimuth information of the wind speed information, wind direction information, the flying height information, the unmanned plane flusher, so that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.The method of adjustment and unmanned plane of above-mentioned unmanned plane flusher can be adjusted the orientation of unmanned plane flusher with the variation of air-flow to improve the operation effectiveness of unmanned plane flusher.
Description
Technical field
The invention belongs to air vehicle technique field more particularly to the methods of adjustment and unmanned plane of unmanned plane flusher.
Background technique
Currently, being often used plant protection drone in agricultural plant protection operation and preventing and treating pest and disease damage, usually can will all spray
Device is mounted below rotor, and atomizing particle is sprayed on the plant leaf blade of lower section by the pushing wind field for effectively utilizing rotor.It plants
Protect on unmanned plane can carry high-pressure nozzle or centrifugal energy nozzle pesticide is atomized, and most of spray heads are all direct fixations at present
In on the body of unmanned plane.In operation process, since operation landform and operating condition limit, the frequent speed change of plant protection drone
Flight, thus causes the angle time changing on plant protection drone and ground.In addition, in farm work, the wind speed of natural wind and
Wind direction also changes at any time, since the grain diameter of plant protection drone atomization is smaller, it is easy to by plant protection drone rotor wind and
The influence of natural wind generates drift, and the insect pest of operation area is caused not remove, and float of mist droplet area generates phytotoxicity, or even influences people and animals' peace
Entirely.
Summary of the invention
In view of this, the embodiment of the invention provides the method for adjustment of unmanned plane flusher and unmanned plane, it is existing to solve
There is the spray head of plant protection drone in technology to be easy the problem affected by environment for leading to operation effectiveness difference.
The first aspect of the embodiment of the present invention provides a kind of method of adjustment of unmanned plane flusher, comprising:
Obtain wind speed information and wind direction information of the unmanned plane in operation, and obtain unmanned plane flying height information and
The azimuth information of unmanned plane flusher；
Flight angle of the unmanned plane relative to ground level is obtained, is believed according to the flight angle and the flying height
Cease the wind-force depressed area for determining unmanned plane rotor；
Believed according to the orientation of the wind speed information, wind direction information, the flying height information, the unmanned plane flusher
Breath controls the orientation of the flusher, so that the sprinkling region of the unmanned plane flusher is located at pressure area under the wind-force
Within the scope of domain.
The second aspect of the embodiment of the present invention provides a kind of unmanned plane, and the unmanned plane includes flusher and control
The flight control modules of the flusher sprinkling；The flusher is used to spray droplet according to predeterminable area；
The flight control modules are used for:
Obtain wind speed information and wind direction information of the unmanned plane in operation, and obtain unmanned plane flying height information and
The azimuth information of unmanned plane flusher；
Flight angle of the unmanned plane relative to ground level is obtained, the wind of unmanned plane rotor is determined according to the flight angle
Power depressed area；
According to the wind speed information, wind direction information, the flying height information of the unmanned plane, the unmanned plane flusher
Azimuth information control the orientation of the flusher so that the sprinkling region of the flusher is located at wind-force pushing
In regional scope.
The third aspect of the embodiment of the present invention provides a kind of control device of unmanned plane flusher, including memory,
Processor and storage in the memory and the computer program that can run on the processor, the processor execution
It is realized when the computer program as described in any of the above-described the step of the method for adjustment of unmanned plane flusher.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, realizes that unmanned plane sprays as described in any of the above-described when the computer program is executed by processor
The step of spilling the method for adjustment of device.
Possessed beneficial effect is the embodiment of the present invention compared with the existing technology: the embodiment of the present invention is pressed from both sides according to flight
Angle and flying height information determine the wind-force depressed area of unmanned plane rotor, and according to wind speed information, wind direction information, flying height
The orientation of information, the azimuth information of unmanned plane flusher control unmanned plane flusher, so that unmanned plane flusher
Sprinkling region is located within the scope of unmanned plane wind-force depressed area, so as to as the variation of air-flow is to unmanned plane flusher
Orientation is adjusted to improve the operation effectiveness of unmanned plane flusher.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the method for adjustment of unmanned plane flusher provided in an embodiment of the present invention；
Fig. 2 be it is provided in an embodiment of the present invention according to the flight angle and the flying height information determine unmanned plane revolve
The implementation flow chart of the wind-force depressed area of the wing；
Fig. 3 is the wind-force depressed area schematic diagram of unmanned plane rotor provided in an embodiment of the present invention；
Fig. 4 is control driving device provided in an embodiment of the present invention so that the sprinkling region of unmanned plane flusher is located at
Implementation flow chart within the scope of wind-force depressed area；
Fig. 5 is control driving device provided in an embodiment of the present invention so that the sprinkling region of unmanned plane flusher is located at
Another implementation flow chart within the scope of wind-force depressed area；
Fig. 6 is the vertical view axonometric drawing of unmanned plane provided in an embodiment of the present invention；
Fig. 7 is that unmanned plane provided in an embodiment of the present invention looks up axonometric drawing；
Fig. 8 is the enlarged diagram of A in Fig. 7；
Fig. 9 is the structural schematic diagram of unmanned plane provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of the control device of unmanned plane flusher provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Based on the system structure of above-mentioned unmanned plane, Fig. 1 shows an implementation of the control method of unmanned plane flusher
The flow diagram of example, details are as follows:
Step S101 obtains wind speed information and wind direction information of the unmanned plane in operation, and obtains the flight of unmanned plane
The azimuth information of elevation information and unmanned plane flusher.
In the present embodiment, it also may include absolute that wind speed information, which may include the relative wind velocity information relative to unmanned plane,
Wind speed information.Wind direction information may include the relative wind direction information relative to unmanned plane, may include true wind direction information.
For true wind velocity information and true wind direction information, can be obtained by the communication device being arranged on unmanned plane.
For example, can detect base station by neighbouring air-flow detects wind speed and direction, and it is sent to the communication device on unmanned plane, as
True wind velocity information and true wind direction information.It, can be at nobody in order to improve the accuracy of true wind velocity and true wind direction
At least one air-flow is set in the regional scope of machine operation and detects base station, and according between unmanned plane and each air-flow detection base station
Distance determine the true wind velocity information and true wind direction information of unmanned plane.For example, can will be apart from unmanned plane current location most
The wind speed and direction that close air-flow detection base station detects, as true wind velocity information and true wind direction information.
Furthermore it is also possible to which detecting the wind speed and direction that base station detects according to each air-flow detects base in conjunction with each air-flow
The positional relationship stood determines true wind velocity information and true wind direction information.
It, can be according to the heading of unmanned plane, flying speed, current for relative wind velocity information and relative wind direction information
True wind velocity and true wind direction obtain.For example, the heading of unmanned plane is positive, east is to the flying speed of unmanned plane is
3m/s, and current true wind velocity is positive, west is to true wind velocity 2m/s, the then it can be concluded that relative wind velocity of unmanned plane is
5m/s, opposite wind direction be positive west to.
Furthermore it is possible to airflow detecting device is arranged on unmanned aerial vehicle body, with detect unmanned plane relative wind velocity information and
Relative wind direction information.The airflow detecting device can be wind instrument, or it is default that other are able to detect unmanned plane
With respect to the device of the relative wind information of unmanned plane in range, with no restriction to this.
For example, air-flow detection instruction, which can be generated, is sent to airflow detecting device, to control airflow detecting device detection people
The relative wind velocity information and relative wind direction information of machine.The air-flow detection instruction may include detection time interval, the time
Interval can be set according to the current flight speed and current weather environment of unmanned plane.
If the unmanned plane is unaccelerated flight and current weather environment is preferable, due in unmanned plane unaccelerated flight
In it is comparatively stable, therefore the detection time interval can be set longer, such as detection time interval can be 20s.
Wherein, current environment be preferably primarily referred to as current wind speed change rate less than threshold value and wind direction it is relatively stable.
If the unmanned plane is non-unaccelerated flight and current weather environment is poor, due in the non-uniform rectilinear of unmanned plane
It is in-flight opposite to be not sufficiently stable, therefore the detection time interval can be set shorter, vary widely in relative wind
When can comparatively fast detect, such as detection time interval can be 10s.Wherein, but preceding environment is poor is primarily referred to as current wind speed
Change rate is not sufficiently stable no more than threshold value and/or wind direction.
In addition, the air-flow detection instruction can also include the other informations such as detection number, detection time, this is not limited
It is fixed.
In the present embodiment, the flying height of unmanned plane and the azimuth information of unmanned plane flusher can pass through unmanned plane
Control system in relevant information in get, but it is not limited to this.For example, it is also possible in unmanned aerial vehicle body lower part setting sound
Wave apparatus detects the flying height etc. of unmanned plane by way of sound wave.
Step S102 obtains flight angle of the unmanned plane relative to ground level, according to the flight angle and described
Flying height information determines the wind-force depressed area of unmanned plane rotor.
Wherein, unmanned plane can pass through the relevant information in the control system of unmanned plane relative to the flight angle of ground level
In get.
It should be understood that when unmanned plane be in floating state and the external world without natural wind when, wind-force depressed area is and Horizon
The vertical cylindrical region in face, droplet can be acted on by stream pressure and be deposited to specified operating area completely at this time, without generating
Float of mist droplet；When unmanned plane is along advertised route flight, unmanned aerial vehicle body plane and horizontal plane generate angle, and are flying
Relative motion occurs for the air (windward) in Cheng Zhong, unmanned plane and front, and wind-force depressed area is to have centainly with ground level at this time
The class cylindrical region of angle.
Referring to fig. 2, it in one embodiment, is determined in step S102 according to the flight angle and the flying height information
The wind-force depressed area of unmanned plane rotor, can specifically be realized by following procedure:
Step S201 determines the corresponding disc region of the unmanned plane rotor.
Wherein, at work, unmanned plane rotor rotational forms disc region to unmanned plane, therefore can be according to unmanned plane rotor
Radius, determine the corresponding disc region of unmanned plane rotor.For example, the radius of unmanned plane rotor is r, then unmanned plane rotor is corresponding
Disc region be A=π r2。
Step S202, according to the flight angle, the corresponding disc region of the unmanned plane rotor and the flying height
Information determines the wind-force depressed area.
One embodiment, wind-force depressed area as shown in figure 3, the wind-force depressed area include full circle cylinder region V1 and
Oblique circular cylinder body region V2.
As an embodiment, step S202 can be realized by following procedure:
The unmanned plane rotor is determined according to the flying height, the radius of the unmanned plane rotor and the flight angle
First height of the minimum point to ground level.In the present embodiment, flying height H1, the radius of unmanned plane rotor is r, flight angle
For θ, then the first height H2=H1-r sin θ of unmanned plane rotor minimum point to ground level.
The height of the full circle cylinder region is determined according to the flight angle and first height, and according to described whole
The height of cylindrical region and the corresponding disc of the unmanned plane rotor, determine the full circle cylinder region.Wherein, full circle cylinder
The height in regionThen full circle cylinder region
The height of the oblique circular cylinder body region, and root are determined according to the diameter of the flight angle and the unmanned plane rotor
According to the height and the corresponding disc of the unmanned plane rotor of the oblique circular cylinder body region, the oblique circular cylinder body region is determined.Wherein,
The height L2=2r tan θ of oblique circular cylinder body region, then oblique circular cylinder body region
The wind-force depressed area is determined according to the full circle cylinder region and the oblique circular cylinder body region.Determine it is whole
After cylindrical region and oblique circular cylinder body region, obtain depressed area in fashion be full circle cylinder region and oblique circular cylinder body region, as
Step S103 is sprayed according to the wind speed information, the wind direction information, the flying height information, the unmanned plane
The azimuth information for spilling device controls the orientation of the flusher, so that the sprinkling region of the unmanned plane flusher is located at
Within the scope of the wind-force depressed area.
Wherein, unmanned plane can also include the driving device for adjusting flusher orientation.It is controlled described in step S103
The orientation of the unmanned plane flusher is made, so that the sprinkling region of the unmanned plane flusher is located at wind-force pushing
In regional scope, comprising: control the driving device so that the sprinkling region of the unmanned plane flusher is in the wind-force
Within the scope of depressed area.
Under actual conditions, the wind speed and direction of extraneous natural wind changes at random, and (such as flight is high for the posture of unmanned plane
Degree, flying speed, heading etc.) it is also to be adjusted according to the flight demand moment, it is therefore desirable to outside according to certain frequency collection
The information such as boundary's wind speed and direction, and according to state wind speed information, wind direction information, flying height information and unmanned plane flusher side
Position information, determine the theoretical orientation of flusher, and control driving device adjustment flusher present orientation to theory orientation,
So that the sprinkling region of the unmanned plane flusher is within the scope of the wind-force depressed area.
In one embodiment, the driving device for adjusting the sprinkling side of unmanned plane flusher in a first direction
To, referring to fig. 4, described in step S103 control the driving device so that the unmanned plane flusher sprinkling region position
Include the following steps: within the scope of the wind-force depressed area
Step S301 determines the droplet drift bearing in the sprinkling region of unmanned plane flusher according to the wind direction information.
Wherein, therefore droplet drift bearing and wind direction according to wind direction information on the contrary, can determine float of mist droplet direction.Example
Such as, wind direction is positive west to then can determining float of mist droplet direction westwards, not repeat them here to this.
Step S302 adjusts the first direction of the driving device, so that the sprinkling side of the unmanned plane flusher
To opposite with the drift bearing.
When obtaining or detecting current wind direction, need to adjust the first direction of driving device, so that unmanned plane sprinkling dress
The sprinkling direction set and droplet drift bearing will be on the contrary, so as to wholly or largely be maintained at wind-force depressed area by droplet
It is interior, improve unmanned plane operation effectiveness.For example, wind direction is positive, west is to the then first direction of adjustable driving device, so that nothing
The sprinkling direction of man-machine flusher is positive east to will wholly or largely droplet be maintained in wind-force depressed area.
And the first direction of driving device can be the plane parallel with unmanned aerial vehicle body, the first direction for adjusting driving device makes nothing
The sprinkling direction of man-machine flusher can adjust in the plane.
Further, the driving device is also used to adjust the sprinkling side of the unmanned plane flusher in a second direction
To the first direction and the second direction are vertical.It is corresponding, the control driving device described in step S103 so that
It further includes following steps that the sprinkling region of the unmanned plane flusher, which is located within the scope of the wind-force depressed area:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device is adjusted, so that the sprinkling region of the unmanned plane flusher is positioned at described
Within the scope of wind-force depressed area.
Wherein, wind direction information determines the direction of droplet drift, and wind speed information determines the intensity of droplet drift.Droplet drift
Intensity can be understood as the angle between the route and ground level of droplet drift: for angle closer to 0 °, droplet drift intensity is stronger；
For angle closer to 90 °, droplet drift intensity is weaker.In one embodiment, second direction can be vertical with unmanned aerial vehicle body
Direction.
It should be understood that when droplet drift intensity is stronger, the second direction of adjustable driving device, i.e., described in adjustment
The angle in the sprinkling direction and horizontal plane of flusher, the spray head axis of flusher and the angle of horizontal plane are bigger, then wind resistance
Ability it is stronger, relative wind velocity is bigger, then the angle for needing to adjust is also bigger, with this by the sprinkling region of unmanned plane flusher
It is adjusted within the scope of wind-force depressed area, or the orientation of the adjustment unmanned plane flusher, so that it sprays region position
Region except the wind-force depressed area range is less than preset threshold.
Referring to Fig. 5, as an embodiment, step S103 can specifically include following steps:
Step S401 is sprayed according to the flying height information, the wind speed information, the wind direction information, the unmanned plane
The azimuth information and spraying swath information for spilling device determine sprinkling region；The spraying swath information is the sprinkling of the unmanned plane flusher
Amplitude.
Wherein, flying height and sprinkling region are positively correlated, i.e., flying height is higher, and sprinkling region is bigger；Wind direction determines spray
Which side of region deviation wind-force depressed area is spilt, the deviation oscillation positive of wind-force depressed area is deviateed in wind speed and sprinkling region
It closes, the deviation oscillation that wind-force depressed area is deviateed in the bigger sprinkling region of wind speed is bigger；Spraying swath information and sprinkling region are positively correlated, i.e.,
Spraying swath is bigger, and sprinkling region is bigger；The side of the azimuth information characterization unmanned plane flusher sprinkling droplet of unmanned plane flusher
Position information.
Step S402 judges to spray whether region is located within the scope of wind-force depressed area.In this step, judge to spray
Whether region, which is located at, refers within the scope of wind-force depressed area and judges whether the whole region for spraying region is located at pressure area under wind-force
Within the scope of domain.
Step S403 adjusts the unmanned plane when the sprinkling region is located at except the wind-force depressed area range
The orientation of flusher, so that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.
It should be understood that needing to adjust described when the sprinkling region determined is located at except wind-force depressed area range
The sprinkling region of unmanned plane flusher is adjusted within the scope of wind-force depressed area by the orientation of unmanned plane flusher, thus
So that droplet, which can be sprayed to, formulates region, unmanned plane operation effectiveness is improved.It, can be according to determining spray during adjustment
The droplet drift bearing for spilling region determines adjustment direction, and the axis of adjustment flusher can also be determined according to the drift intensity of droplet
The angle of line and horizontal plane.
Specifically, pesticide concentration, the centrifugal force of centrifugal energy nozzle, the pressure of pressure nozzle, wind speed, wind direction, flying height etc.
It will affect droplet drift bearing and intensity, calculation method is what those skilled in that art will be readily apparent, no longer superfluous herein
It states.
In addition, sprinkling region, which is located at except wind-force depressed area range, can be located at pressure area under wind-force for sprinkling region part
Except the range of domain, this is not construed as limiting.
Step S404, when within the scope of the sprinkling region being located at the wind-force depressed area, do not adjust it is described nobody
The orientation of machine flusher.
As another embodiment, step S103 can specifically include following steps:
According to the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher side
Position information and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher.
When the sprinkling region is located at the range except wind-force pushing range and is greater than preset threshold, the nothing is adjusted
The orientation of man-machine flusher, so that the sprinkling region of the unmanned plane flusher is located at the wind-force depressed area range
It is interior.
Wherein, under airflow function, the droplet that unmanned plane flusher sprays can all have certain drift, and have few portion
It is also acceptable that the droplet divided, which drifts out wind-force depressed area,.That is, sprinkling region is located at the model except wind-force depressed area
When enclosing smaller, and the operation effectiveness of unmanned plane flusher can be improved, without adjusting unmanned plane flusher
Orientation.And the setting of preset range can be set according to actual needs, such as preset range can for less than or equal to
30% arbitrary value, but not limited to this.
It is determined about according to the azimuth information of wind speed information, wind direction information, flying height information and unmanned plane flusher
Wind speed information, wind direction information, flying height information, unmanned plane sprinkling dress can be set in the theoretical orientation of unmanned plane flusher
The theoretical position of the present orientation information and unmanned plane flusher set is gathered correspondingly, is believed by the wind speed detected
Breath, wind direction information, the present orientation information of flying height information and unmanned plane flusher, can correspond to out unmanned plane spray head
Theoretical position.In the present embodiment, can by test get with each wind speed information, wind direction information, flying height information and
The theoretical position of the corresponding unmanned plane spray head of the azimuth information of unmanned plane flusher, thus establish wind speed information, wind direction information,
The theoretical position of flying height information, the azimuth information of unmanned plane flusher and unmanned plane spray head is gathered correspondingly, and
The set is stored in the memory of unmanned plane for calling at any time.
As an embodiment, step S103 may comprise steps of:
The presetting of the flusher is determined according to the wind speed information, the wind direction information and the flying height information
Perfect square position；
When the present orientation of the flusher and the angle in the pre-adjustment orientation are greater than predetermined angle described in adjustment
The orientation of flusher, so that the present orientation of the flusher and the angle in the pre-adjustment orientation are less than preset angle
Degree.
It should be understood that the angle between the present orientation and the pre-adjustment orientation determined of flusher be greater than it is default
When angle, it may be said that the present orientation deviation of bright flusher is larger, it is likely that sprinkling region can be made to be located under the wind-force
Region except intermediate pressure section range is greater than or equal to preset threshold, larger to unmanned plane j ob impact, it is therefore desirable to according to presetting
The orientation of whole orientation adjustment flusher.And the angle between the present orientation of flusher and the pre-adjustment orientation determined
When less than predetermined angle can be equal to, it may be said that the present orientation of bright flusher there are deviation but deviation it is smaller, to flusher
The droplet influence sprayed is smaller, such as sprinkling region might have the part except wind-force depressed area, but spray area
Domain is located at the region except the wind-force depressed area range and is less than preset threshold, little to unmanned plane j ob impact, therefore can
Not adjust the present orientation of flusher.
It is illustrated, but is not limited thereto so that driving device includes two servo motors as an example below.Referring to Fig. 6 to figure
8, unmanned plane can specifically include unmanned aerial vehicle body 1001, horn 1006, rotor 1002, spray head 1008, head cartridge 1007, wind
Fast registering weather vane 1003, medicine-chest 1004, battery 1005, control system 1009 and water pump 1010.Head cartridge 1007 includes servo electricity
Machine support 1011, first servo motor 1012, the second servo motor 1013, the first fixed frame 1014, the second fixed frame 1015.
Spray head 1008 is installed on 1002 lower section of 1006 end of horn and rotor by head cartridge 1007.Wherein, it first watches
Motor 1012 is taken to be fixed on immediately below 1006 end of horn and rotor 1002 by servo motor bracket 1011.First servo motor
1012 output shaft is fixedly connected with the back side of the first fixed frame 1014.Second servo motor 1013 is located at the first fixed frame 1014
Between second servo motor 1013 and the first fixed frame 1014 relative motion can occur for side.Second servo motor 1013 and
The side of two fixed frames 1015 is fixedly connected.Spray head 1008 is fixedly arranged on the back side of the second fixed frame 1015.
In the present embodiment, driving unmanned plane flusher turns jointly for first servo motor 1012 and the second servo motor 1013
Move pre-configured orientation.Wherein, first servo motor 1012 can drive unmanned plane flusher with vertical with unmanned aerial vehicle body
Axis is that the axial rotation any angle or reversion rotation any angle, the second servo motor 1013 of rotating forward can drive unmanned plane to spray
Device is spilt along the direction rotation rotation any angle vertical with unmanned aerial vehicle body, to realize driving unmanned plane flusher adjustment
To any orientation.
Specifically, can determine the first servo motor according to wind speed information, wind direction information and flying height information
Second theory state information of the first theory state information and second servo motor；The first theory state information includes
First theoretical rotation angle and the first theoretical direction of rotation, the second theory state information include the second theoretical rotation angle and
Second theoretical direction of rotation；One group of first theory state information and the second theory state information correspond to the one of unmanned plane flusher
A orientation.
And the theoretical position of unmanned plane spray head corresponds to unique one group first theoretical rotation angle, the first theoretical rotation side
To, the second theoretical rotation angle and the second theoretical direction of rotation, and the current actual positions of unmanned plane spray head correspond to unique one
The first present rotation angel degree of group, the first current direction of rotation, the second present rotation angel degree and the second current direction of rotation.Therefore,
Corresponding each pair of theoretical parameter and each pair of actual parameter can be compared for unit, in corresponding theoretical parameter and reality
When the amplitude of variation of border parameter is greater than threshold value, controls first servo motor and/or the second servo motor adjusts accordingly, so that
The rotation angle and direction of rotation of first servo motor and/or the second servo motor are adjusted to corresponding theoretical rotation angle and reason
By direction of rotation.
The method of adjustment of above-mentioned unmanned plane flusher determines unmanned plane rotor according to flight angle and flying height information
Wind-force depressed area, and according to wind speed information, wind direction information, the azimuth information of flying height information, unmanned plane flusher
The orientation for controlling unmanned plane flusher, so that the sprinkling region of the unmanned plane flusher is located at pressure area under the wind-force
Within the scope of domain, so as to be adjusted with position of the variation of air-flow to unmanned plane flusher to improve unmanned plane sprinkling
The operation effectiveness of device.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment two
Corresponding to unmanned plane spray head control method described in foregoing embodiments one, the embodiment of the present invention two is shown in Fig. 9
The unmanned plane of offer.For ease of description, only the parts related to this embodiment are shown.
Unmanned plane in the present embodiment includes the flight control modules of flusher 101 and control flusher sprinkling
102.The flusher 101 is used to spray droplet according to predeterminable area.
The flight control modules 102 are used for:
Obtain wind speed information and wind direction information of the unmanned plane in operation, and obtain unmanned plane flying height information and
The azimuth information of unmanned plane flusher 101；
Flight angle of the unmanned plane relative to ground level is obtained, the wind of unmanned plane rotor is determined according to the flight angle
Power depressed area；
According to the wind speed information, wind direction information, the flying height information of the unmanned plane, the unmanned plane flusher
Azimuth information control the orientation of the flusher 101 so that the sprinkling region of the flusher 101 is located at the wind
Within the scope of power depressed area.
Optionally, the unmanned plane further includes the driving device 103 for adjusting the flusher orientation.The flight
Control module 102 is also used to control the driving device 103 so that the sprinkling region of the flusher 101 is located at the wind
Within the scope of power depressed area.
Optionally, the driving device 103 for adjusting the sprinkling side of unmanned plane flusher 101 in a first direction
To；The flight control modules 102 are also used to:
The droplet drift bearing in the sprinkling region of unmanned plane flusher 101 is determined according to the wind direction information；
Adjust the first direction of the driving device 103 so that the sprinkling direction of the unmanned plane flusher 101 with
The drift bearing is opposite.
As an embodiment, the driving device 103 can also adjust the unmanned plane spray in a second direction
Spill the sprinkling direction of device 101；The flight control modules 102 are also used to:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device 103 is adjusted, so that the sprinkling region position of the unmanned plane flusher 101
In within the scope of the wind-force depressed area.
Implementable as another kind, the driving device 103 is also used to adjust the unmanned plane sprinkling in a second direction
The sprinkling direction of device 101；The flight control modules 102 are also used to:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device 103 is adjusted, so that the sprinkling region position of the unmanned plane flusher 101
Region except the wind-force depressed area range is less than preset threshold.
Optionally, the flight control modules 102 are specifically used for:
According to the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher side
Position information and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher 101；
When the sprinkling region is located at the wind-force and pushes except range, the unmanned plane flusher 101 is adjusted
Orientation, so that the sprinkling region of the unmanned plane flusher 101 is located within the scope of the wind-force depressed area.
Optionally, the flight control modules 102 are specifically used for:
According to the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher side
Position information and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher 101；
When the sprinkling region is located at the range except wind-force pushing range and is greater than preset threshold, the nothing is adjusted
The orientation of man-machine flusher 101, so that the sprinkling region of the unmanned plane flusher 101 is located at pressure area under the wind-force
Within the scope of domain.
Optionally, the flight control modules 101 are specifically used for:
Determine the corresponding disc region of the unmanned plane rotor；
Institute is determined according to the flight angle, the corresponding disc region of the unmanned plane rotor and the flying height information
State wind-force depressed area.
Optionally, the flight control modules 102 are specifically used for: according to the radius of the unmanned plane rotor, determine described in
The corresponding disc region of unmanned plane rotor.
Optionally, the wind-force depressed area includes full circle cylinder region and oblique circular cylinder body region；The flight controls mould
Block is specifically used for:
The unmanned plane rotor is determined according to the flying height, the radius of the unmanned plane rotor and the flight angle
First height of the minimum point to ground level；
The height of the full circle cylinder region is determined according to the flight angle and first height, and according to described whole
The height of cylindrical region and the corresponding disc of the unmanned plane rotor, determine the full circle cylinder region；
The height of the oblique circular cylinder body region, and root are determined according to the diameter of the flight angle and the unmanned plane rotor
According to the height and the corresponding disc of the unmanned plane rotor of the oblique circular cylinder body region, the oblique full circle cylinder region is determined；
The wind-force depressed area is determined according to the full circle cylinder region and the oblique circular cylinder body region.
Optionally, the wind speed information includes the relative wind velocity information of the relatively described unmanned plane, and the wind direction information includes
The relative wind direction information of the relatively described unmanned plane；The unmanned plane further includes airflow detecting device 104, the flight control modules
102 detect the relative wind velocity information and the relative wind direction information by the airflow detecting device 104.
Optionally, the wind speed information includes true wind velocity information, and the wind direction information includes true wind direction information；It is described
Unmanned plane further includes communication device 105, and the flight control modules 102 obtain the absolute wind by the communication device 105
Fast information and the true wind direction information.
In one embodiment, the flight control modules 102 are specifically used for:
The pre-adjustment of the flusher 101 is determined according to the wind speed information, wind direction information, the flying height information
Orientation；
Institute is adjusted when the present orientation of the flusher 101 and the angle in the pre-adjustment orientation are greater than predetermined angle
State flusher 101.
Above-mentioned unmanned plane determines the wind-force depressed area of unmanned plane rotor according to flight angle and flying height information, and
Unmanned plane flusher is controlled according to the azimuth information of wind speed information, wind direction information, flying height information, unmanned plane flusher
Orientation so that the sprinkling region of unmanned plane flusher is located within the scope of unmanned plane wind-force depressed area, so as to
The variation of air-flow the orientation of unmanned plane flusher is adjusted to improve the operation effectiveness of unmanned plane flusher.
Embodiment three
Figure 10 is the schematic diagram of the control device 100 for the unmanned plane flusher that the embodiment of the present invention four provides.Such as Figure 10
Shown, the control device 100 of the unmanned plane flusher of the embodiment includes: processor 140, memory 150 and is stored in
In the memory 150 and the computer program 151 that can be run on the processor 140, such as unmanned plane flusher
Adjustment programme.The processor 140 realizes the tune of above-mentioned each unmanned plane flusher when executing the computer program 151
Step in adjusting method embodiment, such as step S101 to S103 shown in FIG. 1.Alternatively, the processor 140 executes the meter
The function of each module/unit in above-mentioned each Installation practice is realized when calculation machine program 151.
Illustratively, the computer program 151 can be divided into one or more module/units, it is one or
Multiple module/the units of person are stored in the memory 150, and are executed by the processor 140, to complete the present invention.Institute
Stating one or more module/units can be the series of computation machine program instruction section that can complete specific function, the instruction segment
For describing implementation procedure of the computer program 151 in the control device 100 of the unmanned plane flusher.For example,
The computer program 151 can be divided into detection module, data obtaining module and processing module, and each module concrete function is such as
Under:
Data obtaining module for obtaining wind speed information and wind direction information of the unmanned plane in operation, and obtains nobody
The flying height information of machine and the azimuth information of unmanned plane flusher；
Determining module, for obtaining flight angle of the unmanned plane relative to ground level, according to the flight angle and
The flying height information determines the wind-force depressed area of unmanned plane rotor；
Processing module, for according to the wind speed information, the wind direction information, the flying height information and it is described nobody
The azimuth information of machine flusher controls the orientation of the flusher, so that the sprinkling region of the unmanned plane flusher
Within the scope of the wind-force depressed area.
The control device 100 of the unmanned plane flusher can be desktop PC, notebook, palm PC and cloud
Server etc. is held to calculate equipment.The control device 100 of the unmanned plane flusher may include, but be not limited only to, processor
140, memory 150.It will be understood by those skilled in the art that Figure 10 is only the control device 100 of unmanned plane flusher
Example does not constitute the restriction to the control device 100 of unmanned plane flusher, may include than illustrating more or fewer portions
Part, perhaps combines certain components or different components, such as the control device 100 of the unmanned plane flusher can be with
Including input-output equipment, network access equipment, bus etc..
Alleged processor 140 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 150 can be the internal storage unit of the control device 100 of the unmanned plane flusher, such as
The hard disk or memory of the control device 100 of unmanned plane flusher.The memory 150 is also possible to the unmanned plane sprinkling dress
The grafting being equipped on the External memory equipment for the control device 100 set, such as the control device 100 of the unmanned plane flusher
Formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 150 can also both include the control device of the unmanned plane flusher
100 internal storage unit also includes External memory equipment.The memory 150 is for storing the computer program and institute
State other programs and data needed for the control device 100 of unmanned plane flusher.The memory 150 can be also used for temporarily
Ground stores the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (28)
1. a kind of method of adjustment of unmanned plane flusher characterized by comprising
Obtain wind speed information and wind direction information of the unmanned plane in operation, and obtain unmanned plane flying height information and nobody
The azimuth information of machine flusher；
Flight angle of the unmanned plane relative to ground level is obtained, it is true according to the flight angle and the flying height information
Determine the wind-force depressed area of unmanned plane rotor；
According to the wind speed information, the wind direction information, the orientation of the flying height information and the unmanned plane flusher
Information controls the orientation of the flusher, so that the sprinkling region of the unmanned plane flusher is located at wind-force pushing
In regional scope.
2. method of adjustment according to claim 1, which is characterized in that the unmanned plane further includes for adjusting the flusher
The driving device in orientation；The orientation of the control unmanned plane flusher, so that the spray of the unmanned plane flusher
Region is spilt to be located within the scope of the wind-force depressed area, comprising:
The driving device is controlled so that the sprinkling region of the unmanned plane flusher is in the wind-force depressed area range
It is interior.
3. method of adjustment according to claim 2, which is characterized in that the driving device for adjusting nobody in a first direction
The sprinkling direction of machine flusher；It is described control the driving device so that the unmanned plane flusher sprinkling region position
Include the following steps: within the scope of the wind-force depressed area
The droplet drift bearing in the sprinkling region of unmanned plane flusher is determined according to the wind direction information；
The first direction of the driving device is adjusted, so that the sprinkling direction of the unmanned plane flusher and the drift side
To opposite.
4. method of adjustment according to claim 3, which is characterized in that the driving device is also used to adjust institute in a second direction
State the sprinkling direction of unmanned plane flusher；
The control driving device is so that the sprinkling region of the unmanned plane flusher is located at pressure area under the wind-force
Further include following steps within the scope of domain:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device is adjusted, so that the sprinkling region of the unmanned plane flusher is located at the wind-force
Within the scope of depressed area.
5. method of adjustment according to claim 3, which is characterized in that the driving device is also used to adjust institute in a second direction
State the sprinkling direction of unmanned plane flusher；
The control driving device is so that the sprinkling region of the unmanned plane flusher is located at pressure area under the wind-force
Further include following steps within the scope of domain:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device is adjusted, so that the sprinkling region of the unmanned plane flusher is located at the wind-force
Region except depressed area range is less than preset threshold.
6. method of adjustment according to claim 1, which is characterized in that it is described according to the wind speed information, wind direction information, it is described fly
Row elevation information, the unmanned plane flusher azimuth information control the orientation of the flusher so that it is described nobody
The sprinkling region of machine flusher is located within the scope of the wind-force depressed area, includes the following steps:
Believed according to the orientation of the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher
Breath and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher；
When the sprinkling region is located at except the wind-force depressed area range, the side of the unmanned plane flusher is adjusted
Position, so that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.
7. method of adjustment according to claim 1, which is characterized in that it is described according to the wind speed information, wind direction information, it is described fly
Row elevation information, the unmanned plane flusher azimuth information control the orientation of the flusher so that it is described nobody
The sprinkling region of machine flusher is located within the scope of the wind-force depressed area, includes the following steps:
Believed according to the orientation of the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher
Breath and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher；
When the sprinkling region is located at the range except wind-force pushing range and is greater than preset threshold, the unmanned plane is adjusted
The orientation of flusher, so that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.
8. method of adjustment according to claim 1, which is characterized in that described to be believed according to the flight angle and the flying height
The wind-force depressed area for determining unmanned plane rotor is ceased, is included the following steps:
Determine the corresponding disc region of the unmanned plane rotor；
The wind is determined according to the flight angle, the corresponding disc region of the unmanned plane rotor and the flying height information
Power depressed area.
9. method of adjustment according to claim 8, which is characterized in that the corresponding disc of the determination unmanned plane rotor is specific
Are as follows:
According to the radius of the unmanned plane rotor, the corresponding disc region of the unmanned plane rotor is determined.
10. method of adjustment according to claim 9, which is characterized in that the wind-force depressed area include full circle cylinder region and
Oblique circular cylinder body region；
It is described that the wind is determined according to the flight angle, the corresponding disc of the unmanned plane rotor and the flying height information
Power depressed area, specifically:
Determine that the unmanned plane rotor is minimum according to the flying height, the radius of the unmanned plane rotor and the flight angle
First height of the point to ground level；
The height of the full circle cylinder region is determined according to the flight angle and first height, and according to the full circle column
The height of body region and the corresponding disc of the unmanned plane rotor, determine the full circle cylinder region；
The height of the oblique circular cylinder body region is determined according to the diameter of the flight angle and the unmanned plane rotor, and according to institute
The height and the corresponding disc of the unmanned plane rotor for stating oblique circular cylinder body region, determine the oblique circular cylinder body region；
The wind-force depressed area is determined according to the full circle cylinder region and the oblique circular cylinder body region.
11. method of adjustment according to any of claims 1 to 10, which is characterized in that the wind speed information includes relatively described
The relative wind velocity information of unmanned plane, the wind direction information include the relative wind direction information of the relatively described unmanned plane；The acquisition nothing
The man-machine wind speed information in operation includes: with wind direction information
The relative wind velocity information and the relative wind direction information are obtained by the airflow detecting device on unmanned plane.
12. method of adjustment according to any of claims 1 to 10, which is characterized in that the wind speed information includes true wind velocity
Information, the wind direction information include true wind direction information；The wind speed information and wind direction information that unmanned plane is obtained in operation
Include:
The true wind velocity information and the true wind direction information are obtained by the communication device on unmanned plane.
13. method of adjustment according to any of claims 1 to 10, which is characterized in that described according to the wind speed information, wind
The orientation packet of the flusher is controlled to the azimuth information of information, the flying height information, the unmanned plane flusher
Include following steps:
The presetting perfect square of the flusher is determined according to the wind speed information, the wind direction information and the flying height information
Position；
The sprinkling is adjusted when the present orientation of the flusher and the angle in the pre-adjustment orientation are greater than predetermined angle
The orientation of device, so that the present orientation of the flusher and the angle in the pre-adjustment orientation are less than predetermined angle.
14. a kind of unmanned plane, which is characterized in that the unmanned plane includes that flusher and the control flusher spray
Flight control modules；The flusher is used to spray droplet according to predeterminable area；
The flight control modules include storage medium, which uses when wherein described program is run for storing program
In:
Obtain wind speed information and wind direction information of the unmanned plane in operation, and obtain unmanned plane flying height information and nobody
The azimuth information of machine flusher；
Flight angle of the unmanned plane relative to ground level is obtained, under the wind-force that unmanned plane rotor is determined according to the flight angle
Intermediate pressure section；
According to the wind speed information, wind direction information, the flying height information of the unmanned plane, the unmanned plane flusher side
Position information controls the orientation of the flusher, so that the sprinkling region of the flusher is located at the wind-force depressed area
In range.
15. unmanned plane according to claim 14, which is characterized in that the unmanned plane further includes for adjusting the sprinkling
The driving device of tool face azimuth；The flight control modules are also used to control the driving device so that the flusher
Sprinkling region is located within the scope of the wind-force depressed area.
16. unmanned plane according to claim 15, which is characterized in that the driving device for adjusting in a first direction
The sprinkling direction of unmanned plane flusher；The flight control modules are also used to:
The droplet drift bearing in the sprinkling region of unmanned plane flusher is determined according to the wind direction information；
The first direction of the driving device is adjusted, so that the sprinkling direction of the unmanned plane flusher and the drift side
To opposite.
17. unmanned plane according to claim 16, which is characterized in that the driving device can also be adjusted in a second direction
The sprinkling direction of the whole unmanned plane flusher；The flight control modules are also used to:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device is adjusted, so that the sprinkling region of the unmanned plane flusher is located at the wind-force
Within the scope of depressed area.
18. unmanned plane according to claim 16, which is characterized in that the driving device is also used to adjust in a second direction
The sprinkling direction of the whole unmanned plane flusher；The flight control modules are also used to:
Droplet drift intensity is determined according to the wind speed information；
The second direction of the driving device is adjusted, so that the sprinkling region of the unmanned plane flusher is located at the wind-force
Region except depressed area range is less than preset threshold.
19. unmanned plane according to claim 14, which is characterized in that the flight control modules are also used to:
Believed according to the orientation of the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher
Breath and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher；
When the sprinkling region is located at the wind-force and pushes except range, the orientation of the unmanned plane flusher is adjusted, with
So that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.
20. unmanned plane according to claim 14, which is characterized in that the flight control modules are also used to:
Believed according to the orientation of the flying height information, the wind speed information, the wind direction information, the unmanned plane flusher
Breath and spraying swath information determine sprinkling region；The spraying swath information is the sprinkling amplitude of the unmanned plane flusher；
When the sprinkling region is located at the range except wind-force pushing range and is greater than preset threshold, the unmanned plane is adjusted
The orientation of flusher, so that the sprinkling region of the unmanned plane flusher is located within the scope of the wind-force depressed area.
21. unmanned plane according to claim 14, which is characterized in that the flight control modules are also used to:
Determine the corresponding disc region of the unmanned plane rotor；
The wind is determined according to the flight angle, the corresponding disc region of the unmanned plane rotor and the flying height information
Power depressed area.
22. unmanned plane according to claim 21, which is characterized in that the flight control modules are also used to: according to described
The radius of unmanned plane rotor determines the corresponding disc region of the unmanned plane rotor.
23. unmanned plane according to claim 22, which is characterized in that the wind-force depressed area includes full circle cylinder region
With oblique circular cylinder body region；The flight control modules are also used to:
Determine that the unmanned plane rotor is minimum according to the flying height, the radius of the unmanned plane rotor and the flight angle
First height of the point to ground level；
The height of the full circle cylinder region is determined according to the flight angle and first height, and according to the full circle column
The height of body region and the corresponding disc of the unmanned plane rotor, determine the full circle cylinder region；
The height of the oblique circular cylinder body region is determined according to the diameter of the flight angle and the unmanned plane rotor, and according to institute
The height and the corresponding disc of the unmanned plane rotor for stating oblique circular cylinder body region, determine the oblique circular cylinder body region；
The wind-force depressed area is determined according to the full circle cylinder region and the oblique circular cylinder body region.
24. 4 to 23 described in any item unmanned planes according to claim 1, which is characterized in that the wind speed information includes opposite institute
The relative wind velocity information of unmanned plane is stated, the wind direction information includes the relative wind direction information of the relatively described unmanned plane；It is described nobody
Machine further includes airflow detecting device, and the flight control modules detect the relative wind velocity information by the airflow detecting device
With the relative wind direction information.
25. 4 to 23 described in any item unmanned planes according to claim 1, which is characterized in that the wind speed information includes absolute wind
Fast information, the wind direction information include true wind direction information；The unmanned plane further includes communication device, the flight control modules
The true wind velocity information and the true wind direction information are obtained by the communication device.
26. 4 to 23 described in any item unmanned planes according to claim 1, which is characterized in that the flight control modules are also used
In:
The pre-adjustment orientation of the flusher is determined according to the wind speed information, wind direction information, the flying height information；
The sprinkling is adjusted when the present orientation of the flusher and the angle in the pre-adjustment orientation are greater than predetermined angle
The orientation of device, so that the present orientation of the flusher and the angle in the pre-adjustment orientation are less than predetermined angle.
27. a kind of control device of unmanned plane flusher, including memory, processor and storage are in the memory simultaneously
The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program
Now such as the step of any one of claim 1 to 13 the method.
28. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 13 of realization the method.
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| CN115630770A (en) * | 2022-12-07 | 2023-01-20 | 广东省农业科学院植物保护研究所 | Operation effect evaluation method, system and medium based on plant protection unmanned aerial vehicle |
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