CN116783118A - Spraying control method, equipment, plant protection unmanned aerial vehicle and storage medium - Google Patents

Spraying control method, equipment, plant protection unmanned aerial vehicle and storage medium Download PDF

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Publication number
CN116783118A
CN116783118A CN202180081078.9A CN202180081078A CN116783118A CN 116783118 A CN116783118 A CN 116783118A CN 202180081078 A CN202180081078 A CN 202180081078A CN 116783118 A CN116783118 A CN 116783118A
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CN
China
Prior art keywords
aerial vehicle
unmanned aerial
plant protection
spraying device
protection unmanned
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CN202180081078.9A
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Chinese (zh)
Inventor
贾向华
王璐
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN116783118A publication Critical patent/CN116783118A/en
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    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Catching Or Destruction (AREA)

Abstract

Provided are a spray control method, a device, a plant protection unmanned aerial vehicle (12) and a storage medium, which are applied to the plant protection unmanned aerial vehicle (12), wherein the plant protection unmanned aerial vehicle (12) comprises a plurality of spray devices, and the method comprises the following steps: acquiring current operation route information of the plant protection unmanned aerial vehicle (12); and controlling the switching state of each spraying device (122) in the plurality of spraying devices (122) according to the current operation route information of the plant protection unmanned aerial vehicle (12). Through the mode, the spraying device of the plant protection unmanned aerial vehicle (12) can be effectively and flexibly controlled, the spraying operation efficiency and the spraying effect can be improved, the medicine waste can be reduced, the spraying leakage area can be reduced, and the condition that important parts of the unmanned aerial vehicle are corroded by the medicine can be reduced.

Description

Spraying control method, equipment, plant protection unmanned aerial vehicle and storage medium Technical Field
The invention relates to the technical field of control, in particular to a spraying control method, spraying control equipment, a plant protection unmanned aerial vehicle and a storage medium.
Background
Plant protection unmanned aerial vehicle is as a machine that can carry out high-efficient spraying operation, has obtained the development of growing in recent years. At present, the control mode of the spraying device of the plant protection unmanned aerial vehicle is relatively fixed, so that the spraying in certain scenes can have the waste of the medicine amount, the missing spraying and the like in the flying process; meanwhile, in the spraying process, some medicines may be sprayed on key parts of the unmanned aerial vehicle, so that the parts are corroded, and flight accidents and the like are easy to occur. Therefore, it is particularly important how to better control the spraying device on the plant protection unmanned aerial vehicle.
Disclosure of Invention
The embodiment of the invention provides a spraying control method, spraying control equipment, a plant protection unmanned aerial vehicle and a storage medium, which can effectively and flexibly control a spraying device of the plant protection unmanned aerial vehicle, are beneficial to improving the spraying operation efficiency and the spraying effect, reduce the medicine waste, reduce the spraying leakage area and reduce the condition that important parts of the unmanned aerial vehicle are corroded by medicaments.
In a first aspect, an embodiment of the present invention provides a spray control method applied to a plant protection unmanned aerial vehicle, where the plant protection unmanned aerial vehicle includes a plurality of spraying devices, and the method includes:
acquiring current operation route information of the plant protection unmanned aerial vehicle;
and controlling the on-off state of each spraying device in the plurality of spraying devices according to the current operation route information of the plant protection unmanned aerial vehicle.
In a second aspect, embodiments of the present invention provide a spray control device comprising a memory and a processor;
the memory is used for storing programs;
the processor is configured to call the program, and when the program is executed, perform the following operations:
acquiring current operation route information of the plant protection unmanned aerial vehicle;
and controlling the switching state of each spraying device in the plurality of spraying devices on the plant protection unmanned aerial vehicle according to the current operation route information of the plant protection unmanned aerial vehicle.
In a third aspect, an embodiment of the present invention provides a plant protection unmanned aerial vehicle, including a plurality of sprinkler on the plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle includes:
a body;
the power system is configured on the machine body and is used for providing moving power for the plant protection unmanned aerial vehicle;
the spray control device as described in the second aspect above.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above.
According to the embodiment of the invention, the current operation route information of the plant protection unmanned aerial vehicle can be obtained, and the on-off state of each spraying device in the plurality of spraying devices on the plant protection unmanned aerial vehicle is controlled according to the current operation route information of the plant protection unmanned aerial vehicle. Through this kind of mode, can control plant protection unmanned aerial vehicle's sprinkler effectively, in a flexible way, help promoting and spray operating efficiency and spray the effect, reduce the medicine extravagant, reduce and leak the area of spouting, reduce unmanned aerial vehicle important parts and suffer the condition that the medicament corrodes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a spray control system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a spray control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of another spray control method according to an embodiment of the present invention;
FIG. 4 is a flow chart of yet another spray control method according to an embodiment of the present invention;
FIG. 5 is a flow chart of yet another spray control method according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a spray control device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The invention provides a spraying control method which is applied to a plant protection unmanned aerial vehicle, wherein the plant protection unmanned aerial vehicle comprises a plurality of spraying devices, and each spraying device is distributed in different position areas of the plant protection unmanned aerial vehicle. In some embodiments, the spraying device may be a spray head. In some embodiments, the spraying devices on the plant protection unmanned aerial vehicle are all spraying devices which can be controlled independently.
The spray control method provided in the embodiment of the invention can be executed by a spray control device. In some embodiments, the spray control device may be mounted on the plant protection drone, in some embodiments, the spray control device may be a component of the plant protection drone, i.e., the plant protection drone includes the spray control device; in some embodiments, the spray control device may be spatially independent of the plant protection drone, the spray control device establishing a communication connection with the plant protection drone.
According to the spraying control method provided by the embodiment of the invention, the current operation route information of the plant protection unmanned aerial vehicle is obtained, and the on-off state of each spraying device in a plurality of spraying devices at different positions on the plant protection unmanned aerial vehicle is controlled according to the current operation route information of the plant protection unmanned aerial vehicle.
In one embodiment, can combine the flight configuration of plant protection unmanned aerial vehicle and the position of sprinkler on the plant protection unmanned aerial vehicle according to the current operation route information of plant protection unmanned aerial vehicle, the battery valve switch of distribution in the different positions department of unmanned aerial vehicle is controlled in a flexible way to control sprinkler's in different positions department on-off state, thereby realize the nimble control to sprinkler, reduce the dose extravagant, reduce the area of leaking and spouting, reduce the medicament corruption that unmanned aerial vehicle important part suffered, promote the effect efficiency, promote and spray the effect.
A spray control system provided in accordance with an embodiment of the present invention is schematically illustrated in the following with reference to fig. 1.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a spray control system according to an embodiment of the present invention. The spray control system includes: the plant protection unmanned aerial vehicle 12 and spray control equipment 11, spray control equipment 11 and plant protection unmanned aerial vehicle 12 between communication connection. The plant protection drone 12 includes a power system 121, the power system 121 being configured to provide motive power for the plant protection drone 12. The plant protection drone 12 also includes a plurality of spray devices 122, each spray device 122 for spraying medications, water, fertilizer, and the like.
In this embodiment of the present invention, the spraying control device 11 may obtain current operation route information of the plant protection unmanned aerial vehicle, and control the on-off state of each of the plurality of spraying devices 122 according to the current operation route information of the plant protection unmanned aerial vehicle. Through this kind of embodiment, can control plant protection unmanned aerial vehicle's sprinkler effectively, in a flexible way, help promoting and spray operating efficiency and spray the effect, reduce the medicine extravagant, reduce and leak the area of spouting, reduce unmanned aerial vehicle important parts and suffer the condition that the medicament corrodes.
The spray control method according to the embodiment of the present invention is schematically described with reference to fig. 2 to 5.
Referring specifically to fig. 2, fig. 2 is a schematic flow chart of a spray control method according to an embodiment of the present invention, which may be performed by a spray control device, wherein the spray control device is specifically explained as described above. Specifically, the method of the embodiment of the invention comprises the following steps.
S201: and acquiring current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle. In certain embodiments, the firing line information includes, but is not limited to, location information, status information, etc. of the line. In some embodiments, the location information of the route includes longitude and latitude, altitude, etc. of the route; in some embodiments, the status information for the airline includes a first airline, a last airline, and so on.
S202: and controlling the on-off state of each spraying device in the plurality of spraying devices according to the current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can control the on-off state of each spraying device in the plurality of spraying devices on the plant protection unmanned aerial vehicle according to the current operation route information of the plant protection unmanned aerial vehicle.
In one embodiment, when the spray control device controls the on-off state of each of the plurality of spray devices according to the current operation route information of the plant protection unmanned aerial vehicle, the spray control device may determine whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle, and when it is determined that the current operation route of the plant protection unmanned aerial vehicle is the designated route, the spray control device may control the on-off state of each spray device according to the position areas of the operation routes other than the current operation route. In some embodiments, the specified route includes a first route or a last route.
In one embodiment, when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, the spraying control device may acquire the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route end point, and control the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
In one embodiment, when the spray control device controls the on-off state of each spray device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route endpoint, the spray control device may determine the distance between the current operation position of the plant protection unmanned aerial vehicle and the operation route endpoint according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route endpoint, and control the on-off state of each spray device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameter.
In one embodiment, the spraying control device may further obtain a current operation mode of the plant protection unmanned aerial vehicle, close the front side spraying device and the rear side spraying device when detecting that the current operation mode of the plant protection unmanned aerial vehicle is a designated operation mode, obtain operation parameters of the plant protection unmanned aerial vehicle, and control on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle and control the on-off state of each spraying device in the plurality of spraying devices of the plant protection unmanned aerial vehicle according to the current operation route information of the plant protection unmanned aerial vehicle. Through this kind of mode, can control plant protection unmanned aerial vehicle's sprinkler effectively, in a flexible way, help promoting and spray operating efficiency and spray the effect, reduce the medicine extravagant, reduce and leak the area of spouting, reduce unmanned aerial vehicle important parts and suffer the condition that the medicament corrodes.
Referring specifically to fig. 3, fig. 3 is a schematic flow chart of another spray control method according to an embodiment of the present invention, which may be performed by a spray control device, wherein the spray control device is specifically explained as described above. The embodiment of the invention differs from the embodiment shown in fig. 2 in that the embodiment of the invention illustrates the control process of the spraying device when the plant protection unmanned aerial vehicle works on a specified route. Specifically, the method of the embodiment of the invention comprises the following steps.
S301: and acquiring current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle.
S302: and determining whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can determine whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle. In some embodiments, the specified route includes a first route or a last route.
S303: when the current operation route of the plant protection unmanned aerial vehicle is determined to be a designated route, the on-off state of each spraying device is controlled according to the position areas of other operation routes except the current operation route.
In the embodiment of the invention, when the current operation route of the plant protection unmanned aerial vehicle is determined to be the designated route, the spraying control device can control the on-off state of each spraying device according to the position areas of other operation routes except the current operation route.
In one embodiment, the spray control device may acquire the position areas of the other operation routes except the current operation route when controlling the on-off state of each spray device according to the position areas of the other operation routes except the current operation route, determine the position relationship between the other operation routes and the current operation route according to the position areas of the other operation routes and the position areas of the current operation route, and control the on-off state of each spray device according to the position relationship.
In one embodiment, when the spray control device controls the on-off state of each spray device according to the position relation, the spray device on the plant protection unmanned aerial vehicle is started when the position area of the other operation route is determined to be the right side area of the current operation route along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation.
In one embodiment, when the spray control device controls the on-off state of each spray device according to the position relation, the spray device of the left position area of the plant protection unmanned aerial vehicle along the machine head direction is started when the position area of the other operation route is determined to be the left position area of the current operation route along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation.
Therefore, the problems of waste, even phytotoxicity and the like caused by spraying all the spraying devices when spraying the first route or the last route in the conventional spraying control can be solved, and the medicament waste is reduced.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle, determine whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle, and control the on-off state of each spraying device according to the position areas of other operation routes except the current operation route when the current operation route of the plant protection unmanned aerial vehicle is determined to be the designated route. By the mode, the phenomena of waste, even phytotoxicity and the like caused by spraying by all spraying devices when spraying on the first route or the last route can be reduced, the waste of liquid medicine is reduced, and the spraying effectiveness is improved.
Referring specifically to fig. 4, fig. 4 is a schematic flow chart of yet another spray control method provided in an embodiment of the present invention, which may be performed by a spray control device, wherein a specific explanation of the spray control device is as described above. The difference between the embodiment of the present invention and the embodiment shown in fig. 2 and 3 is that the embodiment of the present invention describes a control process for the spraying device when the distance between the current operation position of the plant protection unmanned aerial vehicle and the end point of the route is less than or equal to the preset distance threshold. Specifically, the method of the embodiment of the invention comprises the following steps.
S401: and acquiring current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle.
S402: and determining whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can determine whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle.
S403: when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route endpoint are obtained.
In the embodiment of the invention, when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, the spraying control equipment can acquire the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
In some embodiments, the current working position of the plant protection unmanned aerial vehicle may be obtained through a positioning device on the plant protection unmanned aerial vehicle, wherein the positioning device may include, but is not limited to, radar, a positioning sensor, and the like. In some embodiments, the location of the firing line endpoint may be pre-obtained.
S404: and controlling the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
In the embodiment of the invention, the spraying control equipment can control the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
In one embodiment, when the spray control device controls the on-off state of each spray device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route endpoint, the distance between the current operation position of the plant protection unmanned aerial vehicle and the operation route endpoint can be determined according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route endpoint, and the on-off state of each spray device can be controlled according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters.
In one embodiment, the spraying device comprises a front spraying device in the direction of the machine head and a rear spraying device in the direction of the machine tail; when the spraying control equipment controls the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters, when the distance is smaller than or equal to a preset distance threshold value, the flight direction and the operation parameters of the plant protection unmanned aerial vehicle can be obtained, the speed information of the plant protection unmanned aerial vehicle is determined according to the operation parameters, the speed information comprises acceleration and speed, and the on-off states of the front side spraying device and the rear side spraying device are controlled according to the flight direction and the speed information.
In one embodiment, the spraying device can turn on the front spraying device and turn off the rear spraying device when the plant protection unmanned aerial vehicle is determined to be in decelerating flight near the working route end point along the machine head direction according to the flight direction and the speed information when the front spraying device and the rear spraying device are controlled to be in on-off states according to the flight direction and the speed information. In some embodiments, the plant protection drone may slow down the flight if it is near the firing line end point during the flight, and may accelerate the flight if it is far from the firing line end point.
In one example, when the distance between the current working position of the plant protection unmanned aerial vehicle and the working route end point is smaller than or equal to a preset threshold value, the speed and the acceleration of the plant protection unmanned aerial vehicle can be obtained, if the x axial speed of the plant protection unmanned aerial vehicle system is larger than 0, the flying direction of the plant protection unmanned aerial vehicle can be determined to fly along the machine head direction, and further, if the x axial acceleration of the plant protection unmanned aerial vehicle system is determined to be smaller than 0, the plant protection unmanned aerial vehicle is indicated to fly in a decelerating manner, so that the plant protection unmanned aerial vehicle can be determined to fly near the working route end point along the machine head direction, the front side spraying device of the plant protection unmanned aerial vehicle is started, and the rear side spraying device is closed.
In one embodiment, the spraying device can turn on the rear spraying device and turn off the front spraying device when the plant protection unmanned aerial vehicle is determined to accelerate to fly away from the working line endpoint along the machine head direction according to the flying direction and the speed information when the spraying device controls the on-off states of the front spraying device and the rear spraying device according to the flying direction and the speed information.
In one example, when the distance between the current working position of the plant protection unmanned aerial vehicle and the working route end point is smaller than or equal to a preset threshold value, the speed and the acceleration of the plant protection unmanned aerial vehicle can be obtained, if the x axial speed of the plant protection unmanned aerial vehicle system is larger than 0, the flying direction of the plant protection unmanned aerial vehicle can be determined to fly along the machine head direction, and further, if the x axial acceleration of the plant protection unmanned aerial vehicle system is determined to be larger than 0, the plant protection unmanned aerial vehicle is indicated to fly in an accelerating manner, so that the plant protection unmanned aerial vehicle can be determined to fly along the machine head direction away from the working route end point, and the rear side spraying device of the plant protection unmanned aerial vehicle is started, and the front side spraying device is closed.
In one embodiment, the spraying device is used for controlling the on-off states of the front spraying device and the rear spraying device according to the flight direction and the speed information, and when the plant protection unmanned aerial vehicle is determined to be in decelerating flight close to the working route endpoint along the tail direction according to the flight direction and the speed information, the rear spraying device is started, and the front spraying device is closed.
In one example, when the distance between the current working position of the plant protection unmanned aerial vehicle and the working route end point is smaller than or equal to a preset threshold value, the speed and the acceleration of the plant protection unmanned aerial vehicle can be obtained, if the x axial speed of the plant protection unmanned aerial vehicle system is smaller than 0, the flying direction of the plant protection unmanned aerial vehicle can be determined to fly along the tail direction, and further, if the x axial acceleration of the plant protection unmanned aerial vehicle system is determined to be smaller than 0, the plant protection unmanned aerial vehicle is indicated to fly in a decelerating manner, so that the plant protection unmanned aerial vehicle can be determined to fly near the working route end point along the tail direction, and then the rear side spraying device of the plant protection unmanned aerial vehicle is started, and the front side spraying device is closed.
In one embodiment, the spraying device may determine, according to the flight direction and the speed information, that the plant protection unmanned aerial vehicle is accelerated to fly away from the working line endpoint along the tail direction when the front spraying device and the rear spraying device are controlled to be in a switching state according to the flight direction and the speed information, and turn on the front spraying device and turn off the rear spraying device.
In one example, when the distance between the current working position of the plant protection unmanned aerial vehicle and the working route end point is smaller than or equal to a preset threshold value, the speed and the acceleration of the plant protection unmanned aerial vehicle can be obtained, if the x axial speed of the plant protection unmanned aerial vehicle system is smaller than 0, the flying direction of the plant protection unmanned aerial vehicle can be determined to fly along the tail direction, further, if the x axial acceleration of the plant protection unmanned aerial vehicle system is determined to be larger than 0, the plant protection unmanned aerial vehicle is indicated to fly in an accelerating mode, and therefore the plant protection unmanned aerial vehicle can be determined to fly away from the working route end point along the tail direction, and accordingly the front side spraying device of the plant protection unmanned aerial vehicle is started, and the rear side spraying device is closed.
Therefore, through the modes, the spraying leakage area can be reduced, and the spraying operation efficiency of the plant protection unmanned aerial vehicle is improved.
In one embodiment, the spraying device comprises a front spraying device in the direction of the machine head and a rear spraying device in the direction of the machine tail; when the spraying device controls the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters, when the distance is larger than a preset distance threshold value, the flight direction and the operation parameters of the plant protection unmanned aerial vehicle can be obtained, the on-off states of the front side spraying device and the rear side spraying device are controlled according to the flight direction, and the on-off states of the spraying devices at other positions except the front side spraying device and the rear side spraying device are controlled according to the operation parameters. In certain embodiments, the operational parameters include speed, acceleration, etc. of the plant protection drone.
In one embodiment, the spraying device may turn on the rear spraying device if the flying direction is forward in the head direction, turn off the front spraying device, turn on the front spraying device if the flying direction is backward in the head direction, and turn off the rear spraying device when the distance is greater than a preset distance threshold value and the on-off state of the front spraying device and the rear spraying device is controlled according to the flying direction.
In one embodiment, when the spraying device controls the on-off state of the spraying devices at other positions than the front side spraying device and the rear side spraying device according to the operation parameters, the spraying flow rate of the spraying devices at other positions than the front side spraying device and the rear side spraying device can be calculated according to the speed and the acceleration of the plant protection unmanned aerial vehicle flying in the operation parameters, and each spraying device can be controlled according to the spraying flow rate of each spraying device.
For example, when the distance between the current working position of the plant protection unmanned aerial vehicle and the working route end point is greater than a preset distance threshold, the flight direction, the flight speed and the flight acceleration of the plant protection unmanned aerial vehicle can be obtained, if the flight direction is forward along the machine head direction, the front side spraying device is closed, the rear side spraying device is opened, the spraying flow rates of the spraying devices at other positions except the front side spraying device and the rear side spraying device are further calculated according to the flight speed and the flight acceleration of the plant protection unmanned aerial vehicle, and each spraying device is controlled according to the spraying flow rate of each spraying device.
Through this kind of mode, can avoid plant protection unmanned aerial vehicle when flying forward along the aircraft nose direction, the liquid medicine that the front side sprinkler of aircraft nose direction sprayed can fly to plant protection unmanned aerial vehicle intermediate position's key part department to and, avoid plant protection unmanned aerial vehicle when flying behind the aircraft nose direction, the liquid medicine that the rear side sprinkler of tail direction sprayed can fly to plant protection unmanned aerial vehicle intermediate position's key part department, and then avoid causing the part to damage.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle, determine whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle, and acquire the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route endpoint when determining that the current operation route of the plant protection unmanned aerial vehicle is a non-designated route, and control the switching state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route endpoint. Through this kind of mode can reduce and leak the area of spouting, avoid plant protection unmanned aerial vehicle to fly forward along the aircraft nose orientation, the liquid medicine that front side sprinkler of aircraft nose orientation sprayed can fly to plant protection unmanned aerial vehicle intermediate position's key parts department to and, avoid plant protection unmanned aerial vehicle when flying backward along the aircraft nose orientation, the liquid medicine that rear side sprinkler of aircraft tail orientation sprayed can fly to plant protection unmanned aerial vehicle intermediate position's key parts department, and then avoid causing the part to damage, promote plant protection unmanned aerial vehicle's spraying operation efficiency.
Referring specifically to fig. 5, fig. 5 is a schematic flow chart of yet another spray control method according to an embodiment of the present invention, which may be performed by a spray control device, wherein the spray control device is specifically explained as described above. The difference between the embodiment of the present invention and the embodiments shown in fig. 2, 3 and 4 is that the embodiment of the present invention illustrates the control process of the plant protection unmanned aerial vehicle on the spraying device when the plant protection unmanned aerial vehicle is in the designated operation mode. Specifically, the method of the embodiment of the invention comprises the following steps.
S501: and acquiring the current operation mode of the plant protection unmanned aerial vehicle.
In the embodiment of the invention, the spraying control equipment can acquire the current operation mode of the plant protection unmanned aerial vehicle.
S502: and when the current operation mode of the plant protection unmanned aerial vehicle is detected to be the appointed operation mode, closing the front side spraying device and the rear side spraying device.
In the embodiment of the invention, when the spray control device detects that the current operation mode of the plant protection unmanned aerial vehicle is the designated operation mode, the front side spray device and the rear side spray device can be closed. In some embodiments, the specified operation mode is used for indicating operation tasks including row spacing, for example, the specified operation mode may be a fruit tree spraying operation mode.
S503: and acquiring the operation parameters of the plant protection unmanned aerial vehicle, and controlling the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters.
In the embodiment of the invention, the spraying control equipment can acquire the operation parameters of the plant protection unmanned aerial vehicle and control the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters. In certain embodiments, the operational parameters include a speed, an acceleration of the plant protection drone's flight, a voyage distance in the specified operational mode.
In one embodiment, when the spraying device controls the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters, the spraying flow rate of the spraying devices at other positions except the front side spraying device and the rear side spraying device can be calculated according to the flying speed, the flying acceleration and the navigation distance in a designated operation mode of the plant protection unmanned aerial vehicle, and each spraying device can be controlled according to the spraying flow rate of each spraying device.
For example, assuming that the designated operation mode is a fruit tree spraying operation mode, a sailing distance in the fruit tree spraying operation mode may be obtained, if the flight direction is forward in the machine head direction, the front side spraying device is turned off, the rear side spraying device is turned on, a spraying flow rate of the spraying devices at other positions than the front side spraying device and the rear side spraying device is further calculated according to a speed, an acceleration, and the sailing distance in the fruit tree spraying operation mode of the plant protection unmanned aerial vehicle, and each spraying device is controlled according to the spraying flow rate of each spraying device.
Therefore, by the mode, the spraying device can be flexibly controlled in the appointed operation mode with the row spacing, the waste of liquid medicine is reduced, and the spraying effect of the spraying device is improved.
In the embodiment of the invention, the spraying control equipment can acquire the current operation mode of the plant protection unmanned aerial vehicle, and when the current operation mode of the plant protection unmanned aerial vehicle is detected to be the appointed operation mode, the front side spraying device and the rear side spraying device are closed, the operation parameters of the plant protection unmanned aerial vehicle are acquired, and the on-off states of other spraying devices except the front side spraying device and the rear side spraying device are controlled according to the operation parameters. By the mode, the spraying device can be flexibly controlled in the appointed operation mode with the row spacing, the waste of liquid medicine is reduced, and the spraying effect of the spraying device is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a spray control device according to an embodiment of the present invention. Specifically, the spray control device includes: memory 601, and processor 602.
In an embodiment, the spray control device further comprises a data interface 603, the data interface 603 being for transferring data information between the spray control device and other devices.
The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (nonvolatile memory); the memory 601 may also include a combination of the above types of memories. The processor 602 may be a central processing unit (central processing unit, CPU). The processor 602 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), or any combination thereof.
The memory 601 is used for storing a program, and the processor 602 may call the program stored in the memory 601, for performing the following steps:
acquiring current operation route information of a plant protection unmanned aerial vehicle;
and controlling the switching state of each spraying device in the plurality of spraying devices on the plant protection unmanned aerial vehicle according to the current operation route information of the plant protection unmanned aerial vehicle.
Further, the processor 602 is specifically configured to, when controlling the on/off state of each of the plurality of spraying devices on the plant protection unmanned aerial vehicle according to the current working route information of the plant protection unmanned aerial vehicle:
Determining whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle;
when the current operation route of the plant protection unmanned aerial vehicle is determined to be a designated route, the on-off state of each spraying device is controlled according to the position areas of other operation routes except the current operation route.
Further, the processor 602 is specifically configured to, when controlling the on/off state of each spraying device according to the location area of the other working routes except the current working route:
acquiring the position areas of other operation routes except the current operation route;
and determining the position relation between the other operation airlines and the current operation airlines according to the position areas of the other operation airlines and the position areas of the current operation airlines, and controlling the on-off state of each spraying device according to the position relation.
Further, the processor 602 is specifically configured to, when controlling the on/off state of each spraying device according to the positional relationship:
when the position areas of the other operation routes are determined to be the right side areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the right side position areas along the machine head direction on the plant protection unmanned aerial vehicle; or alternatively, the process may be performed,
And when the position areas of the other operation routes are determined to be left areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the left position areas of the plant protection unmanned aerial vehicle along the machine head direction.
Further, the specified route includes a first route or a last route.
Further, the processor 602 is further configured to:
when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, acquiring the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route endpoint;
and controlling the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
Further, when the processor 602 controls the on-off state of each spraying device according to the current working position of the plant protection unmanned aerial vehicle and the position of the working line endpoint, the processor is specifically configured to:
determining the distance between the current operation position of the plant protection unmanned aerial vehicle and the operation route end point according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point;
and controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters.
Further, the spraying device comprises a front spraying device in the machine head direction and a rear spraying device in the machine tail direction; the processor 602 is specifically configured to, when controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle, and the operation parameter:
when the distance is smaller than or equal to a preset distance threshold value, acquiring the flight direction and the operation parameters of the plant protection unmanned aerial vehicle;
determining speed information of the plant protection unmanned aerial vehicle according to the operation parameters, wherein the speed information comprises acceleration and speed;
and controlling the on-off states of the front side spraying device and the rear side spraying device according to the flying direction and the speed information.
Further, the processor 602 is specifically configured to, when controlling the on/off states of the front side spraying device and the rear side spraying device according to the flight direction and the speed information:
and when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the machine head direction and close to the end point of the operation route according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
Further, the processor 602 is specifically configured to, when controlling the on/off states of the front side spraying device and the rear side spraying device according to the flight direction and the speed information:
And when the plant protection unmanned aerial vehicle is determined to accelerate to fly far away from the operation route end point along the machine head direction according to the flight direction and the speed information, starting the rear side spraying device, and closing the front side spraying device.
Further, the processor 602 is specifically configured to, when controlling the on/off states of the front side spraying device and the rear side spraying device according to the flight direction and the speed information:
when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the tail direction and close to the operation route end point according to the flight direction and the speed information, the rear side spraying device is started, and the front side spraying device is closed.
Further, the processor 602 is specifically configured to, when controlling the on/off states of the front side spraying device and the rear side spraying device according to the flight direction and the speed information:
and when the plant protection unmanned aerial vehicle is determined to accelerate to fly along the tail direction and away from the operation route end point according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
Further, the spraying device comprises a front spraying device in the machine head direction and a rear spraying device in the machine tail direction; the processor 602 is specifically configured to, when controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle, and the operation parameter:
When the distance is greater than a preset distance threshold, acquiring the flight direction and operation parameters of the plant protection unmanned aerial vehicle;
controlling the on-off states of the front side spraying device and the rear side spraying device according to the flight direction;
and controlling the on-off state of the spraying device at other positions except the front side spraying device and the rear side spraying device according to the operation parameters.
Further, the processor 602 is further configured to:
acquiring a current operation mode of the plant protection unmanned aerial vehicle;
when the current operation mode of the plant protection unmanned aerial vehicle is detected to be a designated operation mode, closing the front side spraying device and the rear side spraying device;
and acquiring the operation parameters of the plant protection unmanned aerial vehicle, and controlling the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters.
Further, the specified job mode is used for indicating a job task including a line spacing.
In the embodiment of the invention, the spraying control equipment can acquire the current operation route information of the plant protection unmanned aerial vehicle and control the on-off state of each spraying device in the plurality of spraying devices according to the current operation route information of the plant protection unmanned aerial vehicle. Through this kind of mode, can control plant protection unmanned aerial vehicle's sprinkler effectively, in a flexible way, help promoting and spray operating efficiency and spray the effect, reduce the medicine extravagant, reduce and leak the area of spouting, reduce unmanned aerial vehicle important parts and suffer the condition that the medicament corrodes.
The embodiment of the invention also provides a plant protection unmanned aerial vehicle, which comprises a plurality of spraying devices, and comprises: a body; the power system is configured on the machine body and is used for providing mobile power for the plant protection unmanned aerial vehicle; the spray control device as in any one of the embodiments above.
In the embodiment of the invention, the plant protection unmanned aerial vehicle can acquire the current operation route information of the plant protection unmanned aerial vehicle, and the on-off state of each spraying device in the plurality of spraying devices is controlled according to the current operation route information of the plant protection unmanned aerial vehicle. Through this kind of mode, can control plant protection unmanned aerial vehicle's sprinkler effectively, in a flexible way, help promoting and spray operating efficiency and spray the effect, reduce the medicine extravagant, reduce and leak the area of spouting, reduce unmanned aerial vehicle important parts and suffer the condition that the medicament corrodes.
The embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the method described in the embodiments corresponding to fig. 2, fig. 3, fig. 4, and fig. 5 of the present invention, and may also implement the apparatus corresponding to the embodiment corresponding to the present invention described in fig. 6, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the device. Further, the computer readable storage medium may also include both internal storage units and external storage devices of the device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is illustrative only of some embodiments of the invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.

Claims (32)

  1. A spray control method, characterized in that it is applied to a plant protection unmanned aerial vehicle, including a plurality of sprinkler on the plant protection unmanned aerial vehicle, the method includes:
    Acquiring current operation route information of the plant protection unmanned aerial vehicle;
    and controlling the on-off state of each spraying device in the plurality of spraying devices according to the current operation route information of the plant protection unmanned aerial vehicle.
  2. The method of claim 1, wherein controlling the on-off state of each of the plurality of sprinklers based on current operational lane information of the plant protection unmanned aerial vehicle comprises:
    determining whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle;
    when the current operation route of the plant protection unmanned aerial vehicle is determined to be a designated route, the on-off state of each spraying device is controlled according to the position areas of other operation routes except the current operation route.
  3. The method of claim 2, wherein said controlling the on-off state of each of said spray devices according to the location areas of other than said current operating route comprises:
    acquiring the position areas of other operation routes except the current operation route;
    and determining the position relation between the other operation airlines and the current operation airlines according to the position areas of the other operation airlines and the position areas of the current operation airlines, and controlling the on-off state of each spraying device according to the position relation.
  4. A method according to claim 3, wherein said controlling the on-off state of each of said spraying devices according to said positional relationship comprises:
    when the position areas of the other operation routes are determined to be the right side areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the right side position areas along the machine head direction on the plant protection unmanned aerial vehicle; or alternatively, the process may be performed,
    and when the position areas of the other operation routes are determined to be left areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the left position areas of the plant protection unmanned aerial vehicle along the machine head direction.
  5. The method of claim 2, wherein the specified route comprises a first route or a last route.
  6. The method according to claim 2, wherein the method further comprises:
    when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, acquiring the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route endpoint;
    and controlling the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
  7. The method of claim 6, wherein controlling the on-off state of each sprinkler according to the current work location of the plant protection drone and the location of the work line endpoint comprises:
    determining the distance between the current operation position of the plant protection unmanned aerial vehicle and the operation route end point according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point;
    and controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters.
  8. The method of claim 7, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters comprises the following steps:
    when the distance is smaller than or equal to a preset distance threshold value, acquiring the flight direction and the operation parameters of the plant protection unmanned aerial vehicle;
    determining speed information of the plant protection unmanned aerial vehicle according to the operation parameters, wherein the speed information comprises acceleration and speed;
    and controlling the on-off states of the front side spraying device and the rear side spraying device according to the flying direction and the speed information.
  9. The method of claim 8, wherein said controlling the on-off state of the front side sprinkler and the rear side sprinkler according to the flight direction and the speed information comprises:
    and when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the machine head direction and close to the end point of the operation route according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
  10. The method of claim 9, wherein said controlling the on-off state of the front side sprinkler and the rear side sprinkler according to the flight direction and the speed information comprises:
    and when the plant protection unmanned aerial vehicle is determined to accelerate to fly far away from the operation route end point along the machine head direction according to the flight direction and the speed information, starting the rear side spraying device, and closing the front side spraying device.
  11. The method of claim 9, wherein said controlling the on-off state of the front side sprinkler and the rear side sprinkler according to the flight direction and the speed information comprises:
    when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the tail direction and close to the operation route end point according to the flight direction and the speed information, the rear side spraying device is started, and the front side spraying device is closed.
  12. The method of claim 9, wherein said controlling the on-off state of the front side sprinkler and the rear side sprinkler according to the flight direction and the speed information comprises:
    and when the plant protection unmanned aerial vehicle is determined to accelerate to fly along the tail direction and away from the operation route end point according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
  13. The method of claim 7, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters comprises the following steps:
    when the distance is greater than a preset distance threshold, acquiring the flight direction and operation parameters of the plant protection unmanned aerial vehicle;
    controlling the on-off states of the front side spraying device and the rear side spraying device according to the flight direction;
    and controlling the on-off state of the spraying device at other positions except the front side spraying device and the rear side spraying device according to the operation parameters.
  14. The method of claim 1, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the method further comprises the steps of:
    acquiring a current operation mode of the plant protection unmanned aerial vehicle;
    when the current operation mode of the plant protection unmanned aerial vehicle is detected to be a designated operation mode, closing the front side spraying device and the rear side spraying device;
    and acquiring the operation parameters of the plant protection unmanned aerial vehicle, and controlling the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters.
  15. The method of claim 14, wherein the specified job mode is used to indicate a job task including a line spacing.
  16. A spray control device comprising a memory and a processor;
    the memory is used for storing programs;
    the processor is configured to call the program, and when the program is executed, perform the following operations:
    acquiring current operation route information of a plant protection unmanned aerial vehicle;
    and controlling the switching state of each spraying device in the plurality of spraying devices on the plant protection unmanned aerial vehicle according to the current operation route information of the plant protection unmanned aerial vehicle.
  17. The apparatus according to claim 16, wherein the processor is configured to, when controlling the on-off state of each of the plurality of spraying devices on the plant protection drone according to the current working route information of the plant protection drone:
    determining whether the current operation route of the plant protection unmanned aerial vehicle is a designated route according to the current operation route information of the plant protection unmanned aerial vehicle;
    when the current operation route of the plant protection unmanned aerial vehicle is determined to be a designated route, the on-off state of each spraying device is controlled according to the position areas of other operation routes except the current operation route.
  18. The apparatus of claim 17, wherein the processor is configured to, when controlling the on-off state of each of the spray devices according to the location areas of the other work lanes than the current work lane:
    acquiring the position areas of other operation routes except the current operation route;
    and determining the position relation between the other operation airlines and the current operation airlines according to the position areas of the other operation airlines and the position areas of the current operation airlines, and controlling the on-off state of each spraying device according to the position relation.
  19. The apparatus according to claim 18, wherein said processor is configured to, when controlling the on-off state of each of said spraying devices according to said positional relationship:
    when the position areas of the other operation routes are determined to be the right side areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the right side position areas along the machine head direction on the plant protection unmanned aerial vehicle; or alternatively, the process may be performed,
    and when the position areas of the other operation routes are determined to be left areas of the current operation routes along the machine head direction of the plant protection unmanned aerial vehicle according to the position relation, starting a spraying device of the left position areas of the plant protection unmanned aerial vehicle along the machine head direction.
  20. The apparatus of claim 17, wherein the designated route comprises a first route or a last route.
  21. The apparatus of claim 17, wherein the processor is further configured to:
    when the current operation route of the plant protection unmanned aerial vehicle is determined to be a non-designated route, acquiring the current operation position of the plant protection unmanned aerial vehicle and the position of an operation route endpoint;
    And controlling the on-off state of each spraying device according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point.
  22. The apparatus according to claim 21, wherein the processor is configured to, when controlling the on-off state of each of the spraying devices according to the current working position of the plant protection unmanned aerial vehicle and the position of the working line end point:
    determining the distance between the current operation position of the plant protection unmanned aerial vehicle and the operation route end point according to the current operation position of the plant protection unmanned aerial vehicle and the position of the operation route end point;
    and controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle and the operation parameters.
  23. The apparatus of claim 22, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the processor is specifically configured to, when controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle, and the operation parameter:
    when the distance is smaller than or equal to a preset distance threshold value, acquiring the flight direction and the operation parameters of the plant protection unmanned aerial vehicle;
    Determining speed information of the plant protection unmanned aerial vehicle according to the operation parameters, wherein the speed information comprises acceleration and speed;
    and controlling the on-off states of the front side spraying device and the rear side spraying device according to the flying direction and the speed information.
  24. The apparatus of claim 23, wherein the processor is configured to, when controlling the on-off states of the front side sprinkler and the rear side sprinkler in accordance with the flight direction and the speed information:
    and when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the machine head direction and close to the end point of the operation route according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
  25. The apparatus of claim 24, wherein the processor is configured to, when controlling the on-off states of the front side sprinkler and the rear side sprinkler based on the flight direction and the speed information:
    and when the plant protection unmanned aerial vehicle is determined to accelerate to fly far away from the operation route end point along the machine head direction according to the flight direction and the speed information, starting the rear side spraying device, and closing the front side spraying device.
  26. The apparatus of claim 24, wherein the processor is configured to, when controlling the on-off states of the front side sprinkler and the rear side sprinkler based on the flight direction and the speed information:
    when the plant protection unmanned aerial vehicle is determined to be in deceleration flight along the tail direction and close to the operation route end point according to the flight direction and the speed information, the rear side spraying device is started, and the front side spraying device is closed.
  27. The apparatus of claim 24, wherein the processor is configured to, when controlling the on-off states of the front side sprinkler and the rear side sprinkler based on the flight direction and the speed information:
    and when the plant protection unmanned aerial vehicle is determined to accelerate to fly along the tail direction and away from the operation route end point according to the flight direction and the speed information, starting the front side spraying device, and closing the rear side spraying device.
  28. The apparatus of claim 22, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the processor is specifically configured to, when controlling the on-off state of each spraying device according to the distance, the flight direction of the plant protection unmanned aerial vehicle, and the operation parameter:
    When the distance is greater than a preset distance threshold, acquiring the flight direction and operation parameters of the plant protection unmanned aerial vehicle;
    controlling the on-off states of the front side spraying device and the rear side spraying device according to the flight direction;
    and controlling the on-off state of the spraying device at other positions except the front side spraying device and the rear side spraying device according to the operation parameters.
  29. The apparatus of claim 16, wherein the spraying device comprises a front spraying device in a nose direction and a rear spraying device in a tail direction; the processor is further configured to:
    acquiring a current operation mode of the plant protection unmanned aerial vehicle;
    when the current operation mode of the plant protection unmanned aerial vehicle is detected to be a designated operation mode, closing the front side spraying device and the rear side spraying device;
    and acquiring the operation parameters of the plant protection unmanned aerial vehicle, and controlling the on-off states of other spraying devices except the front side spraying device and the rear side spraying device according to the operation parameters.
  30. The apparatus of claim 29, wherein the specified job mode is used to indicate a job task that includes a line spacing.
  31. Plant protection unmanned aerial vehicle, its characterized in that, including a plurality of sprinkler on the plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle includes:
    a body;
    the power system is configured on the machine body and is used for providing moving power for the plant protection unmanned aerial vehicle;
    a spray control device as claimed in any one of claims 16 to 30.
  32. A computer readable storage medium storing a computer program, which when executed by a processor performs the method of any one of claims 1 to 15.
CN202180081078.9A 2021-01-28 2021-01-28 Spraying control method, equipment, plant protection unmanned aerial vehicle and storage medium Pending CN116783118A (en)

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CN104808677B (en) * 2015-04-23 2017-03-22 广州快飞计算机科技有限公司 Unmanned aerial vehicle spraying control method and apparatus
KR101668635B1 (en) * 2016-03-22 2016-11-09 (주)세이프어스드론 Unmanned air wehicle for Artificial pollination, and system using the same
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CN117413815B (en) * 2023-12-19 2024-03-01 山东源泉机械有限公司 Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system

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