WO2018094663A1 - 农业无人飞行器及其喷洒控制方法 - Google Patents

农业无人飞行器及其喷洒控制方法 Download PDF

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Publication number
WO2018094663A1
WO2018094663A1 PCT/CN2016/107148 CN2016107148W WO2018094663A1 WO 2018094663 A1 WO2018094663 A1 WO 2018094663A1 CN 2016107148 W CN2016107148 W CN 2016107148W WO 2018094663 A1 WO2018094663 A1 WO 2018094663A1
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WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
agricultural unmanned
head
vehicle according
Prior art date
Application number
PCT/CN2016/107148
Other languages
English (en)
French (fr)
Inventor
吴晓龙
吴旭民
丘力
周乐
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/107148 priority Critical patent/WO2018094663A1/zh
Priority to JP2019527374A priority patent/JP6880381B2/ja
Priority to CN201680004253.3A priority patent/CN107223107B/zh
Priority to CN202110266594.0A priority patent/CN112829945B/zh
Publication of WO2018094663A1 publication Critical patent/WO2018094663A1/zh
Priority to US16/120,590 priority patent/US11014668B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the invention relates to an unmanned aerial vehicle, in particular to an agricultural unmanned aerial vehicle and a spraying control method thereof.
  • multi-rotor agricultural unmanned aerial vehicles on the market generally use a single water pump to connect pipes, and the pipes are connected to the nozzles to form a spray liquid path.
  • the method only realizes the switching on and off of the liquid system, and the precise control spraying of the agricultural unmanned aerial vehicle cannot be realized.
  • An agricultural unmanned aerial vehicle comprising:
  • a flying power unit mounted on the frame for providing flight power
  • controller is capable of selectively controlling a plurality of the water pumps, Spraying is performed by the selected nozzle that is connected to the water pump.
  • a spray control method for an agricultural unmanned aerial vehicle comprising:
  • At least one of the selected pumps is controlled to begin operation and sprayed through at least one of the spray heads in communication with the water pump.
  • the corresponding nozzles are selected for spraying, thereby controlling the spraying area or the spraying effect, thereby improving the precision of the spraying.
  • Figure 1 is a side view of an agricultural unmanned aerial vehicle of Embodiment 1 of the present invention.
  • Figure 2 is a bottom plan view of the agricultural unmanned aerial vehicle of Figure 1;
  • Figure 3 is a perspective view of an agricultural unmanned aerial vehicle of Embodiment 2 of the present invention.
  • Figure 4 is a bottom plan view of the agricultural unmanned aerial vehicle shown in Figure 3;
  • Figure 5 is a control schematic diagram of the controller of the agricultural unmanned aerial vehicle shown in Figure 3;
  • Fig. 6 is a flow chart showing a spray control method of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to another component or a central component can be present at the same time, and where possible, the two components can be directly integrated.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the invention provides an agricultural unmanned aerial vehicle, which is provided with a plurality of nozzles for spraying liquids such as pesticides and water. According to different conditions, the nozzles at different positions are selected to achieve the corresponding spraying effect, thereby improving the spraying precision.
  • the position-adapting nozzle is selected according to the flight direction of the agricultural unmanned aerial vehicle, for example, if it is required to increase the penetration of the spray, when the agricultural unmanned aerial vehicle is flying toward the nose, The nozzle in the direction of the head makes the sprayed droplets pass unmanned Under the action of the airflow generated by the flying power unit of the rowing device, the acceleration is ejected downward. If the droplets sprayed by the nozzle are not affected by the airflow, when the agricultural unmanned aerial vehicle is flying toward the nose, the nozzle in the tail direction is selected, so that the sprayed droplets are subjected to the airflow generated by the flying power device of the unmanned aerial vehicle. Impact.
  • the position-adapting nozzle is selected according to the wind direction of the working environment of the agricultural unmanned aerial vehicle. For example, if the agricultural unmanned aerial vehicle flies against the wind, the nozzle in the head direction is selected to minimize the sprayed mist. The error caused by the drift of the drops. If the agricultural unmanned aerial vehicle is flying downwind, the nozzle in the tail direction is selected to minimize the error caused by the drift of the sprayed droplets.
  • the position-adapted spray head is selected based on the orientation of the agricultural unmanned aerial vehicle relative to the work area, for example, if the agricultural unmanned aerial vehicle is sprayed clockwise along the boundary of the work area, then The nozzle on the right side of the agricultural unmanned aerial vehicle avoids excessive spraying onto the outside of the work area. If the agricultural unmanned aerial vehicle is sprayed counterclockwise along the boundary of the work area, the spray head on the left side of the agricultural unmanned aerial vehicle is selected to avoid excessive spraying onto the outside of the work area.
  • the agricultural unmanned aerial vehicle can automatically select a nozzle at a corresponding position according to a preset condition.
  • the agricultural unmanned aerial vehicle may select a nozzle at a corresponding position by the user's input information, and the user selects according to the current condition.
  • an agricultural unmanned aerial vehicle 10 includes a frame 11, a flying power unit 12, a plurality of spray heads 13, a plurality of water pumps 14, and a controller 15.
  • a flying power unit 12 is mounted on the frame 11 for providing flight power.
  • a plurality of spray heads 13 are mounted below the flight power unit 12.
  • a plurality of water pumps 14 are respectively in communication with a plurality of said spray heads 13 for conveying a liquid flow to said spray heads 13 and being sprayed through said spray heads 13.
  • the controller 15 is electrically connected to the water pump 14.
  • a water tank 16 for holding a liquid, a plurality of the water pumps 14 being in communication with the water tank 16.
  • the controller 15 is capable of selectively controlling a plurality of the water pumps 14 to be sprayed by the selected nozzles 13 that the water pump 14 communicates with.
  • the corresponding nozzles 13 are selected for spraying, thereby controlling the spraying area or spraying effect, thereby improving the precision of spraying.
  • a plurality of spray heads 13 are located at different locations of the frame 11 of the unmanned aerial vehicle.
  • the plurality of spray heads 13 are located directly below the plurality of flight powered devices 12.
  • a portion of the spray head 13 is disposed adjacent to the nose of the agricultural unmanned aerial vehicle 10, and a portion of the spray head 13 is disposed adjacent to the tail of the agricultural unmanned aerial vehicle 10.
  • the plurality of the nozzles 13 disposed near the nose of the agricultural unmanned aerial vehicle 10 are connected by the same water pump 14; and the plurality of the nozzles 13 disposed near the tail of the agricultural unmanned aerial vehicle 10 pass through the same
  • the water pump 14 is in communication to conveniently select a plurality of the nozzles 13 disposed near the nose of the agricultural unmanned aerial vehicle 10, or near the farm A plurality of the nozzles 13 disposed at the tail of the unmanned aerial vehicle 10 are provided.
  • the agricultural unmanned aerial vehicle 100 of the second embodiment of the present invention includes a rack 110 , a flying power unit 120 , a plurality of spray heads 130 , a plurality of water pumps 140 , and a controller 150 .
  • a flying power unit 120 is mounted on the frame 110 for providing flight power.
  • a plurality of spray heads 130 are mounted below the flight power unit 120.
  • a plurality of water pumps 140 are respectively in communication with a plurality of the spray heads 130 for conveying a liquid flow to the spray heads 130 and being sprayed through the spray heads 130.
  • the controller 150 is electrically connected to the water pump 140.
  • a water tank 160 for holding a liquid, and a plurality of the water pumps 140 are in communication with the water tank 160.
  • the controller 150 is capable of selectively controlling a plurality of the water pumps 140 to be sprayed by the selected nozzles 130 that are connected by the water pump 140.
  • the corresponding nozzles 130 are selected for spraying, thereby controlling the spraying area or the spraying effect, thereby improving the precision of the spraying.
  • the frame 110 includes a center body 110a, a machine arm 110b, and a landing stand 110c.
  • the arm 110b is coupled to the center body 110a for supporting the flying power unit 120.
  • the landing stand 110c is coupled to the center body 110a or the arm 110b.
  • the flying power unit 120 may be an electric power unit or an electric power unit.
  • the flying powerplant 12 includes a propeller and a motor that drives the propeller to rotate.
  • the spray head 130 is located directly below the flying power unit 120 Or diagonally below. Specifically in the illustrated embodiment, a plurality of the showerheads 130 are mounted on the arm 110b or/and the landing stand 110c. When a plurality of the nozzles 130 are mounted on the arm 110b, so that the nozzle 130 is located directly below the flying power unit 120, the penetration force of the nozzle 130 is more improved.
  • the specific positions of the plurality of the nozzles 130 may also be designed according to different requirements.
  • the plurality of the nozzles 130 are respectively symmetrically disposed with respect to the roll axis of the agricultural unmanned aerial vehicle 100, or a plurality of the nozzles. 130 are symmetrically disposed relative to the pitch axis of the agricultural unmanned aerial vehicle 100, respectively.
  • the spray heads 130 When a plurality of the spray heads 130 are respectively disposed symmetrically with respect to the roll axis of the agricultural unmanned aerial vehicle 100, it is convenient to control the spray heads 130 of the left and right sides of the agricultural unmanned aerial vehicle 100 to be sprayed, for example, if the agriculture When the unmanned aerial vehicle 100 is sprayed along the boundary of the work area in the clockwise direction, the spray head 130 on the right side of the agricultural unmanned aerial vehicle 100 can be controlled to be sprayed. If the agricultural unmanned aerial vehicle 100 is sprayed along the boundary of the work area in a counterclockwise direction, the spray head 130 on the left side of the agricultural unmanned aerial vehicle 100 may be controlled to be sprayed.
  • the plurality of the nozzles 130 include a head direction nozzle 130aa and a tail direction nozzle 130bb, and the head direction nozzle 130aa is disposed near the nose of the agricultural unmanned aerial vehicle 100.
  • the tail-end nozzle 130bb is disposed near the tail of the agricultural unmanned aerial vehicle 100.
  • the head direction nozzle 130aa is selected, so that The sprayed droplets are ejected downward by the airflow generated by the flying power unit 120 of the unmanned aerial vehicle.
  • the tail-end nozzle 130bb is selected such that the ejected droplets are subjected to the flying power unit 120 of the unmanned aerial vehicle. The effect of the resulting airflow.
  • Each of the water pumps 140 simultaneously connects a plurality of the showerheads 130.
  • the spray heads 130 on each side of the roll axis of the agricultural unmanned aerial vehicle 100 are plural and collectively communicate with one of the water pumps 140.
  • the spray heads 130 on each side of the pitch axis of the agricultural unmanned aerial vehicle 100 are plural and collectively communicate with one of the water pumps 140.
  • the nozzles 130 located in the same area are simultaneously connected to the same water pump 140, it is convenient to control the nozzles 130 of the same area to be sprayed, for example, by controlling one of the corresponding sides of the roll shaft of the agricultural unmanned aerial vehicle 100 by a water pump 140.
  • the spray head 130 is sprayed, or a plurality of the spray heads 130 on the respective sides of the pitch axis of the agricultural unmanned aerial vehicle 100 are controlled by a water pump 140 for spraying.
  • the head direction nozzles 130a may be plural.
  • a plurality of the head direction nozzles 130a are respectively located at two sides of the frame 110.
  • a plurality of the head direction nozzles 130a are in communication with the same water pump 140.
  • the tail-end nozzles 130b may be plural.
  • a plurality of the head direction nozzles 130a are respectively located at two sides of the frame 110.
  • a plurality of the head direction nozzles 130a are in communication with the same water pump 140.
  • the controller 150 can selectively control a plurality of the water pumps 140 according to an input signal of a user. Alternatively, the controller 150 can be based on the pre- The condition is automatically selected to control a plurality of the water pumps 140, and the preset condition includes at least one of: a flight direction of the agricultural unmanned aerial vehicle 100, a wind direction of the working environment, and the agricultural unmanned aerial vehicle 100 compared to the operation The orientation of the area.
  • the controller 150 can automatically select and control a plurality of the water pumps 140 according to a flight direction.
  • the controller 150 selects the water pump 140 that controls the head direction nozzle 130a or the tail direction nozzle 130b to communicate, thereby Spraying is performed by the head direction head 130a or the tail direction head 130b.
  • the controller 150 can automatically select the nozzle 130 that controls one side of the roll axis of the agricultural unmanned aerial vehicle 100 according to the orientation of the agricultural unmanned aerial vehicle 100 compared to the work area.
  • the controller 150 may selectively control the agricultural unmanned aerial vehicle 100 according to the flight direction of the agricultural unmanned aerial vehicle 100, or the wind direction of the working environment, or the wind direction of the flight direction and the working environment.
  • the controller 150 selects the water pump 140 that controls the head direction nozzle 130a or the tail direction nozzle 130b to communicate. Therefore, spraying is performed by the head direction head 130a or the tail direction head 130b. For example, if you need to increase the penetration of the spray, Then, when the agricultural unmanned aerial vehicle 100 is flying toward the nose, the head direction nozzle 130a is selected such that the sprayed droplets are ejected downward by the airflow generated by the flying power unit 120 of the unmanned aerial vehicle.
  • the tail-end nozzle 130b is selected such that the sprayed droplets are subjected to the flying power unit 120 of the unmanned aerial vehicle. The effect of the resulting airflow.
  • the controller 150 includes an aircraft controller 150a and a plurality of ESCs 150b.
  • the aircraft controller 150 is used to control the flight attitude of the agricultural unmanned aerial vehicle 100.
  • a plurality of ESCs 150b are communicatively coupled to the flight controller 150.
  • the water pump 140 may be a diaphragm pump, a rotor pump, a vane pump, a centrifugal pump, an axial flow pump, a mixed flow pump, a vortex pump, a jet pump, or the like.
  • the water pump 140 includes a driving motor 140a, and each of the ESCs 150b is electrically connected to the motor 140a of one of the water pumps 140 for controlling an operating state of the motor 140a.
  • the motor can be a brushed DC motor or a brushless DC motor.
  • the motor may be an outer rotor motor or an inner rotor motor.
  • the motor is a brushless DC motor, and the ESC drives the motor by PWM wave modulation.
  • the change of the brushless ESC PWM value the change of the rotation speed of the water pump 140 is controlled, thereby controlling the change of the output pressure value of the water pump 140, thereby realizing the control of the flow rate of the nozzle 130, thereby further improving the precision of the spraying.
  • the water tank 160 can be in communication with the water pump 140 through a conduit.
  • the water pump 140 is in communication with the showerhead 130 via a conduit.
  • the water pump 140 will liquid the water tank 160 After the body is extracted, it is transported through the pipe to the nozzle 130 and sprayed through the nozzle 130.
  • the water tank 160 can hold a liquid such as a pesticide or water.
  • the water tank 160 may be installed below the center body 110a of the rack 110. Specifically, the water tank 160 may be fixedly coupled to the center body 110a of the rack 110, or the water tank 160 may be fixedly coupled to the landing stand 110c of the rack 110.
  • the present invention also provides a spray control method for the agricultural unmanned aerial vehicle 100.
  • a spray control method of an agricultural unmanned aerial vehicle 100 comprising the following steps.
  • the specific positions of the plurality of the nozzles 130 may also be designed according to different requirements.
  • a plurality of the nozzles 130 are respectively symmetrically arranged with respect to the roll axis of the agricultural unmanned aerial vehicle 100, and the agricultural unmanned aerial vehicle is selected.
  • a plurality of the spray heads 130 are respectively disposed symmetrically with respect to the pitch axis of the agricultural unmanned aerial vehicle 100.
  • a water pump 140 that communicates with the head 130 on one side of the pitch axis of the agricultural unmanned aerial vehicle 100, or a water pump 140 that communicates with the head 130 on the other side of the pitch axis of the agricultural unmanned aerial vehicle 100 is selected.
  • the plurality of the nozzles 130 include a head direction nozzle 130a and a tail direction nozzle 130b, and the head side
  • the head 130a is disposed adjacent to the nose of the agricultural unmanned aerial vehicle 100
  • the tail-end nozzle 130b is disposed adjacent to the tail of the agricultural unmanned aerial vehicle 100.
  • Each of the water pumps 140 simultaneously connects a plurality of the showerheads 130.
  • the spray heads 130 on each side of the roll axis of the agricultural unmanned aerial vehicle 100 are plural and collectively communicate with one of the water pumps 140.
  • the spray heads 130 on each side of the pitch axis of the agricultural unmanned aerial vehicle 100 are plural and collectively communicate with one of the water pumps 140.
  • the head direction nozzles 130a may be plural.
  • a plurality of the head direction nozzles 130a are respectively located at two sides of the frame 110.
  • a plurality of the head direction nozzles 130a are in communication with the same water pump 140.
  • the tail-end nozzles 130b may be plural.
  • a plurality of the head direction nozzles 130a are respectively located at two sides of the frame 110.
  • a plurality of the head direction nozzles 130a are in communication with the same water pump 140.
  • the water pump 140 that communicates with the head direction nozzle 130a or the tail direction nozzle 130b is selected, and passes through the head direction nozzle 130a or the tail direction.
  • the shower head 130b is sprayed.
  • the water pump 140 that communicates with the head direction nozzle 130a or the tail direction nozzle 130b is selected, through the head direction nozzle 130a or the machine.
  • the tail direction nozzle 130b is sprayed.
  • S102 Control at least one of the selected water pumps 140 to start working, and spray through the spray head 130 that is connected by at least one of the water pumps 140.
  • the water pump 140 may be a diaphragm pump, a rotor pump, a vane pump, a centrifugal pump, Axial flow pumps, mixed flow pumps, vortex pumps, jet pumps, etc.
  • the water pump 140 includes a driving motor, and each of the electric switches is electrically connected to the motor of the water pump 140 for controlling an operating state of the motor.
  • the motor can be a brushed DC motor or a brushless DC motor.
  • the motor may be an outer rotor motor or an inner rotor motor.
  • the motor is a brushless DC motor that is driven by PWM wave modulation.
  • processors may include, but are not limited to, one or more general purpose microprocessors (eg, single or multi-core processors), application specific integrated circuits, dedicated instruction set processors, graphics processing units, physical processing units, digital signal processing Unit, coprocessor, network processing unit, audio processing unit, encryption processing unit, and the like.
  • general purpose microprocessors eg, single or multi-core processors
  • application specific integrated circuits dedicated instruction set processors
  • graphics processing units eg, physical processing units, digital signal processing Unit, coprocessor, network processing unit, audio processing unit, encryption processing unit, and the like.
  • Storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro hard disks and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices, magnetic or optical cards, nanometers
  • a system including a molecular memory IC) or any type of medium or device suitable for storing instructions and/or data.
  • features of the present invention can be incorporated into software and/or firmware to control the hardware of the processing system and enable the processing system to utilize other results utilizing the results of the present invention.
  • the organization interacts.
  • software or firmware may include, but is not limited to, application code, device drivers, operating systems, and execution environments/containers.
  • ASICs application specific integrated circuits
  • FPGA field programmable gate array
  • the present invention may conveniently use one or more conventional general purpose or special purpose digital computers, computing devices, machines or microprocessors (including one or more processors, memory and/or programmed in accordance with the teachings of the present disclosure).
  • the computer readable medium is implemented. It will be apparent to those skilled in the software arts that a skilled programmer can conveniently prepare appropriate software coding based on the teachings of the present disclosure.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the unit described as a separate component may or may not They are physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • Environmental Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种农业无人飞行器(10)，包括：机架(11)；飞行动力装置(12)，安装在所述机架上，用于提供飞行动力；多个喷头(13)，安装在所述飞行动力装置(12)的下方；多个水泵(14)，分别与多个所述喷头连通，用于将液流输送至所述喷头(13)，通过所述喷头(13)喷洒出去；控制器(15)，与所述水泵(14)电连接，其中，所述控制器(15)能够选择性地控制多个所述水泵(14)，通过选取的所述水泵(14)连通的所述喷头(13)进行喷洒。

Description

农业无人飞行器及其喷洒控制方法 技术领域
本发明涉及一种无人飞行器，特别涉及一种农业无人飞行器及其喷洒控制方法。
背景技术
目前市场上的多旋翼农业无人飞行器一般采用单水泵接管道，管道连接喷头，从而形成喷洒液路。该方法仅单纯实现液路系统的开关通断，无法实现农业无人飞行器的精准控制喷洒。
发明内容
鉴于此，本发明有必要提供一种能够提高喷洒精度的农业无人飞行器及其喷洒控制方法。
一种农业无人飞行器，包括：
机架；
飞行动力装置，安装在所述机架上，用于提供飞行动力；
多个喷头，安装在所述飞行动力装置的下方；
多个水泵，分别与多个所述喷头连通，用于将液流输送至所述喷头，通过所述喷头喷洒出去；以及
控制器，与所述水泵电连接，
其中，所述控制器能够选择性地控制多个所述水泵， 通过选取的所述水泵连通的所述喷头进行喷洒。
一种农业无人飞行器的喷洒控制方法，所述方法包括：
从多个水泵中选取至少一个所述水泵，其中多个所述水泵分别与多个喷头连通；以及
控制选取的至少一个所述水泵开始工作，通过至少一个所述水泵连通的喷头进行喷洒。
通过选择性地控制多个所述水泵，选取相应的喷头进行喷洒，从而进行控制喷洒区域或喷洒效果，进而提高喷洒的精准度。
附图说明
图1为本发明的实施例一的农业无人飞行器的侧视图；
图2为图1所示的农业无人飞行器的仰视图；
图3为本发明的实施例二的农业无人飞行器的立体图；
图4为图3所示的农业无人飞行器的仰视图；
图5为图3所示的农业无人飞行器的控制器的控制原理图；
图6为本发明的实施例的农业无人飞行器的喷洒控制方法的流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件，在可能的情况下，也可以是两个组件直接一体成型。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明提供一种农业无人飞行器，其设有多个喷头，用于喷洒农药、水等液体。根据不同条件通过选择不同位置的喷头，实现相应的喷洒效果，从而提高喷洒精度。
在其中一个实施例中，根据所述农业无人飞行器的飞行方向，选择适应位置的喷头，例如，如果需要增大喷洒的穿透力，则在农业无人飞行器朝向机头方向飞行时，选取机头方向的喷头，使得喷出的雾滴经过无人飞 行器的飞行动力装置产生的气流作用下，加速朝向下方喷出。如果为了避免喷头喷出的雾滴受到气流影响，则在农业无人飞行器朝向机头方向飞行时，选取机尾方向的喷头，使得喷出的雾滴受到无人飞行器的飞行动力装置产生的气流的影响。
在其中一些实施例中，根据所述农业无人飞行器的作业环境的风向，选择适应位置的喷头，例如，如果农业无人飞行器逆风飞行，则选择机头方向的喷头，以尽量减少喷洒的雾滴的漂移产生的误差。如果农业无人飞行器顺风飞行，则选择机尾方向的喷头，以尽量减少喷洒的雾滴的漂移产生的误差。
在其中一些实施例中，根据所述农业无人飞行器相较于作业区域的朝向，选择适应位置的喷头，例如，如果所述农业无人飞行器顺时针沿着作业区域的边界进行喷洒，则选择所述农业无人飞行器的右侧的喷头，以避免过多的喷洒到作业区域的外部。如果所述农业无人飞行器逆时针沿着作业区域的边界进行喷洒，则选择所述农业无人飞行器的左侧的喷头，以避免过多的喷洒到作业区域的外部。
在其中一些实施例中，所述农业无人飞行器可以根据预设条件，自动选取相应位置的喷头。或者，所述农业无人飞行器可以用户的输入信息选取相应位置的喷头，并由用户根据当时条件来选择。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互 组合。
请参阅图1及图2，本发明的实施例一的农业无人飞行器10，包括机架11、飞行动力装置12、多个喷头13、多个水泵14、以及控制器15。
飞行动力装置12安装在所述机架11上，用于提供飞行动力。多个喷头13安装在所述飞行动力装置12的下方。多个水泵14分别与多个所述喷头13连通，用于将液流输送至所述喷头13，通过所述喷头13喷洒出去。控制器15与所述水泵14电连接。水箱16，用于盛装液体，多个所述水泵14与所述水箱16连通。
其中，所述控制器15能够选择性地控制多个所述水泵14，通过选取的所述水泵14连通的所述喷头13进行喷洒。
通过选择性地控制多个所述水泵14，选取相应的喷头13进行喷洒，从而进行控制喷洒区域或喷洒效果，进而提高喷洒的精准度。
多个喷头13位于所述无人飞行器的机架11的不同位置，例如，在图示的实施例中，多个喷头13分别位于多个飞行动力装置12的正下方。其中一部分所述喷头13靠近所述农业无人飞行器10的机头设置，另外一部分所述喷头13靠近所述农业无人飞行器10的机尾设置。
其中，靠近所述农业无人飞行器10的机头设置的多个所述喷头13，通过同一水泵14连通；靠近所述农业无人飞行器10的机尾设置的多个所述喷头13，通过同一水泵14连通，从而方便地选取靠近所述农业无人飞行器10的机头设置的多个所述喷头13，或者靠近所述农 业无人飞行器10的机尾设置的多个所述喷头13。
请参阅图3至图5，本发明的实施例二的农业无人飞行器100，包括机架110、飞行动力装置120、多个喷头130、多个水泵140、以及控制器150。
飞行动力装置120安装在所述机架110上，用于提供飞行动力。多个喷头130安装在所述飞行动力装置120的下方。多个水泵140分别与多个所述喷头130连通，用于将液流输送至所述喷头130，通过所述喷头130喷洒出去。控制器150与所述水泵140电连接。水箱160，用于盛装液体，多个所述水泵140与所述水箱160连通。
其中，所述控制器150能够选择性地控制多个所述水泵140，通过选取的所述水泵140连通的所述喷头130进行喷洒。
通过选择性地控制多个所述水泵140，选取相应的喷头130进行喷洒，从而进行控制喷洒区域或喷洒效果，进而提高喷洒的精准度。
机架110的结构可以根据不同需求来设计，例如，在图示的实施例中，所述机架110包括中心体110a、机臂110b以及着陆脚架110c。所述机臂110b与所述中心体110a连接，用于支撑所述飞行动力装置120。所述着陆脚架110c与所述中心体110a或所述机臂110b连接。
飞行动力装置120可以为电动动力装置，也可以为电动动力装置。具体在图示的实施例中，飞行动力装置12包括螺旋桨以及驱动螺旋桨转动的电机。
所述喷头130位于所述飞行动力装置120的正下方 或斜下方。具体在图示的实施例中，多个所述喷头130安装在所述机臂110b或/及所述着陆脚架110c上。当多个所述喷头130安装在所述机臂110b，以便于喷头130位于所述飞行动力装置120的正下方，从而更加利于提高喷头130喷洒的穿透力。
多个所述喷头130的具体位置也可以根据不同需求来设计，例如，多个所述喷头130分别相较于所述农业无人飞行器100的横滚轴对称设置，或者，多个所述喷头130分别相较于所述农业无人飞行器100的俯仰轴对称设置。
当多个所述喷头130分别相较于所述农业无人飞行器100的横滚轴对称设置时，便于控制所述农业无人飞行器100的左右侧的喷头130进行喷洒，例如，如果所述农业无人飞行器100沿着顺时针方向沿着作业区域的边界喷洒时，可以控制控制所述农业无人飞行器100的右侧的喷头130进行喷洒。如果所述农业无人飞行器100沿着逆时针方向沿着作业区域的边界喷洒时，可以控制控制所述农业无人飞行器100的左侧的喷头130进行喷洒。
具体在图示的实施例中，多个所述喷头130包括机头方向喷头130aa以及机尾方向喷头130bb，所述机头方向喷头130aa靠近所述农业无人飞行器100的机头设置，所述机尾方向喷头130bb靠近所述农业无人飞行器100的机尾设置。
如果需要增大喷洒的穿透力，则在农业无人飞行器100朝向机头方向飞行时，选取机头方向喷头130aa，使 得喷出的雾滴经过无人飞行器的飞行动力装置120产生的气流作用下，加速朝向下方喷出。如果为了避免喷头130喷出的雾滴受到气流影响，则在农业无人飞行器100朝向机头方向飞行时，选取机尾方向喷头130bb，使得喷出的雾滴受到无人飞行器的飞行动力装置120产生的气流的影响。
每个所述水泵140同时连通多个所述喷头130。例如，所述农业无人飞行器100的横滚轴的每一侧的所述喷头130为多个，并且共同连通一个所述水泵140。或者，所述农业无人飞行器100的俯仰轴的每一侧的所述喷头130为多个，并且共同连通一个所述水泵140。
由于位于相同区域的喷头130同时连通同一个水泵140，便于控制该同一区域的喷头130进行喷洒，例如，通过一个水泵140控制所述农业无人飞行器100的横滚轴的相应一侧的多个所述喷头130进行喷洒，或者，通过一个水泵140控制所述农业无人飞行器100的俯仰轴的相应一侧的多个所述喷头130进行喷洒。
具体在图示的实施例中，所述机头方向喷头130a为可以多个。多个所述机头方向喷头130a分别位于所述机架110的两侧。多个所述机头方向喷头130a与同一个所述水泵140相连通。所述机尾方向喷头130b可以为多个。多个所述机头方向喷头130a分别位于所述机架110的两侧。多个所述机头方向喷头130a与同一个所述水泵140相连通。
所述控制器150可以根据用户的输入信号选择控制多个所述水泵140。或者，所述控制器150可以根据预 设条件自动选择控制多个所述水泵140，所述预设条件包括如下至少一种：所述农业无人飞行器100的飞行方向，作业环境的风向，所述农业无人飞行器100相较于作业区域的朝向。
例如，所述控制器150可以根据飞行方向自动选择控制多个所述水泵140。在其中一个实施例中，所述农业无人飞行器100朝向机头方向时，所述控制器150选择控制所述机头方向喷头130a或所述机尾方向喷头130b连通的所述水泵140，从而通过所述机头方向喷头130a或所述机尾方向喷头130b进行喷洒。
在其中一个实施例中，所述控制器150可以根据农业无人飞行器100相较于作业区域的朝向，自动选择控制所述农业无人飞行器100的横滚轴的其中一侧的所述喷头130连通的水泵140，或者所述农业无人飞行器100的横滚轴的另外一侧的所述喷头130连通的水泵140。
在其中一个实施例中，所述控制器150可以根据所述农业无人飞行器100的飞行方向，或者作业环境的风向，或者结合飞行方向及作业环境的风向，选择控制所述农业无人飞行器100的俯仰轴的其中一侧的所述喷头130连通的水泵140，或者所述农业无人飞行器100的俯仰轴的另外一侧的所述喷头130连通的水泵140。
具体在图示的实施例中，所述农业无人飞行器100朝向机尾方向时，所述控制器150选择控制所述机头方向喷头130a或所述机尾方向喷头130b连通的所述水泵140，从而通过所述机头方向喷头130a或所述机尾方向喷头130b进行喷洒。例如，如果需要增大喷洒的穿透力， 则在农业无人飞行器100朝向机头方向飞行时，选取机头方向喷头130a，使得喷出的雾滴经过无人飞行器的飞行动力装置120产生的气流作用下，加速朝向下方喷出。如果为了避免喷头130喷出的雾滴受到气流影响，则在农业无人飞行器100朝向机头方向飞行时，选取机尾方向喷头130b，使得喷出的雾滴受到无人飞行器的飞行动力装置120产生的气流的影响。
所述控制器150的具体构造也可以根据不同需求来设计，具体在图示的实施例中，所述控制器150包括飞行器控制器150a、以及多个电调150b。飞行器控制器150用于控制所述农业无人飞行器100的飞行姿态。多个电调150b与所述飞行控制器150通信连接。
所述水泵140可以为隔膜泵、转子泵、叶片泵、离心泵、轴流泵、混流泵、漩涡泵、射流泵等。其中，所述水泵140包括驱动电机140a，每个所述电调150b与一个所述水泵140的所述电机140a电连接，用于控制所述电机140a的工作状态。
所述电机可以为有刷直流电机，或者无刷直流电机。所述电机可以为外转子电机，也可以内转子电机。具体在图示的实施例中，所述电机为无刷直流电机，所述电调通过PWM波调制方式驱动所述电机。通过无刷电调PWM数值变化，控制水泵140转速变化，从而控制水泵140输出压力值的变化，实现喷头130流量大小的控制，从而进一步提高喷洒的精度。
水箱160可以通过管道与水泵140连通。水泵140通过管道与喷头130连通。水泵140将水箱160内的液 体抽取后，通过所述管道输送到喷头130处，通过喷头130喷洒出去。
水箱160可以盛装农药、水等液体。水箱160可以安装在机架110的中心体110a下方，具体地，水箱160可以与机架110的中心体110a固定连接，或者，水箱160可以与机架110的着陆脚架110c固定连接。
请参阅图3及图6，基于上述农业无人飞行器100，本发明还提供一种农业无人飞行器100的喷洒控制方法。
本发明的实施例的农业无人飞行器100的喷洒控制方法，所述方法包括如下步骤。
S101，从多个水泵140中选取至少一个所述水泵140，其中多个所述水泵140分别与多个喷头130连通。
多个所述喷头130的具体位置也可以根据不同需求来设计，例如，多个所述喷头130分别相较于所述农业无人飞行器100的横滚轴对称设置，选取所述农业无人飞行器100的横滚轴的其中一侧的所述喷头130连通的水泵140，或者所述农业无人飞行器100的横滚轴的另外一侧的所述喷头130连通的水泵140。
或者，多个所述喷头130分别相较于所述农业无人飞行器100的俯仰轴对称设置。选取所述农业无人飞行器100的俯仰轴的其中一侧的所述喷头130连通的水泵140，或者所述农业无人飞行器100的俯仰轴的另外一侧的所述喷头130连通的水泵140。
具体在图示的实施例中，多个所述喷头130包括机头方向喷头130a以及机尾方向喷头130b，所述机头方 向喷头130a靠近所述农业无人飞行器100的机头设置，所述机尾方向喷头130b靠近所述农业无人飞行器100的机尾设置。
每个所述水泵140同时连通多个所述喷头130。例如，所述农业无人飞行器100的横滚轴的每一侧的所述喷头130为多个，并且共同连通一个所述水泵140。或者，所述农业无人飞行器100的俯仰轴的每一侧的所述喷头130为多个，并且共同连通一个所述水泵140。
具体在图示的实施例中，所述机头方向喷头130a为可以多个。多个所述机头方向喷头130a分别位于所述机架110的两侧。多个所述机头方向喷头130a与同一个所述水泵140相连通。所述机尾方向喷头130b可以为多个。多个所述机头方向喷头130a分别位于所述机架110的两侧。多个所述机头方向喷头130a与同一个所述水泵140相连通。
所述农业无人飞行器100朝向机头方向时，选取所述机头方向喷头130a或所述机尾方向喷头130b连通的所述水泵140，通过所述机头方向喷头130a或所述机尾方向喷头130b进行喷洒。
或者，所述农业无人飞行器100朝向机尾方向时，选取所述机头方向喷头130a或所述机尾方向喷头130b连通的所述水泵140，通过所述机头方向喷头130a或所述机尾方向喷头130b进行喷洒。
S102，控制选取的至少一个所述水泵140开始工作，通过至少一个所述水泵140连通的喷头130进行喷洒。
所述水泵140可以为隔膜泵、转子泵、叶片泵、离心泵、 轴流泵、混流泵、漩涡泵、射流泵等。其中，所述水泵140包括驱动电机，每个所述电调与一个所述水泵140的所述电机电连接，用于控制所述电机的工作状态。
所述电机可以为有刷直流电机，或者无刷直流电机。所述电机可以为外转子电机，也可以内转子电机。具体在图示的实施例中，所述电机为无刷直流电机，通过PWM波调制方式驱动所述电机。
本发明的许多特征能够以、使用或借助于硬件、软件、固件或它们的组合来执行。因此，本发明的特征可以使用处理系统(例如，包括一个或多个处理器)来实现。示例性的处理器可以包括但不限于一个或多个通用微处理器(例如，单核或多核处理器)、专用集成电路、专用指令集处理器、图形处理单元、物理处理单元、数字信号处理单元、协处理器、网络处理单元、音频处理单元、加密处理单元等。
本发明的特征能够以、使用或借助于计算机程序产品来实现，所述计算机程序产品是在其上/其中储存有指令的一个或多个存储介质或者一个或多个计算机可读介质，所述指令可以用于对处理系统进行编程以执行本文所述的任何特征。存储介质可以包括但不限于任何类型的盘，包括软盘、光盘、DVD、CD-ROM、微硬盘和磁光盘、ROM、RAM、EPROM、EEPROM、DRAM、VRAM、闪存设备、磁卡或光卡、纳米系统(包括分子存储器IC)或者任何类型的适合于储存指令和/或数据的介质或设备。
通过储存于一个或多个机器可读介质中的任何一个上，本发明的特征可以并入软件和/或固件中以控制处理系统的硬件，并使处理系统能够与利用本发明的结果的其他机构进行交互。此类软件或固件可以包括但不限于应用代码、设备驱动程序、操作系统和执行环境/容器。
本发明的特征还可以例如使用诸如专用集成电路(ASIC)和现场可编程门阵列(FPGA)器件等硬件组件而以硬件实现。实现硬件状态机以执行本文所述的功能对于相关领域技术人员而言将会是显而易见的。
此外，本发明可以便利地使用一个或多个常规的通用或专用数字计算机、计算设备、机器或微处理器(包括根据本公开内容的教导而编程的一个或多个处理器、存储器和/或计算机可读介质)来实现。对于软件领域技术人员将会显而易见的是，熟练的编程者可以基于本公开内容的教导而方便地准备适当的软件编码。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不 是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (41)

  1. 一种农业无人飞行器，其特征在于，包括：
    机架；
    飞行动力装置，安装在所述机架上，用于提供飞行动力；
    多个喷头，安装在所述飞行动力装置的下方；
    多个水泵，分别与多个所述喷头连通，用于将液流输送至所述喷头，通过所述喷头喷洒出去；以及
    控制器，与所述水泵电连接，
    其中，所述控制器能够选择性地控制多个所述水泵，通过选取的所述水泵连通的所述喷头进行喷洒。
  2. 根据权利要求1所述的农业无人飞行器，其特征在于，多个所述喷头包括机头方向喷头以及机尾方向喷头，所述机头方向喷头靠近所述农业无人飞行器的机头设置，所述机尾方向喷头靠近所述农业无人飞行器的机尾设置。
  3. 根据权利要求2所述的农业无人飞行器，其特征在于，所述控制器根据预设条件自动选择控制多个所述水泵，所述预设条件包括如下至少一种：
    所述农业无人飞行器的飞行方向，作业环境的风向，所述农业无人飞行器相较于作业区域的朝向。
  4. 根据权利要求3所述的农业无人飞行器，其特征在于，所述农业无人飞行器朝向机头方向时，所述控制器选择控制所述机头方向喷头或所述机尾方向喷头连通的所述水泵，从而通过所述机头方向喷头或所述机尾方 向喷头进行喷洒。
  5. 根据权利要求3所述的农业无人飞行器，其特征在于，所述农业无人飞行器朝向机尾方向时，所述控制器选择控制所述机头方向喷头或所述机尾方向喷头连通的所述水泵，从而通过所述机头方向喷头或所述机尾方向喷头进行喷洒。
  6. 根据权利要求2所述的农业无人飞行器，其特征在于，所述机头方向喷头为多个。
  7. 根据权利要求6所述的农业无人飞行器，其特征在于，多个所述机头方向喷头分别位于所述机架的两侧；
    或/及，多个所述机头方向喷头与同一个所述水泵相连通。
  8. 根据权利要求2所述的农业无人飞行器，其特征在于，所述机尾方向喷头为多个。
  9. 根据权利要求8所述的农业无人飞行器，其特征在于，多个所述机头方向喷头分别位于所述机架的两侧；
    或/及，多个所述机头方向喷头与同一个所述水泵相连通。
  10. 根据权利要求1所述的农业无人飞行器，其特征在于，多个所述喷头分别相较于所述农业无人飞行器的横滚轴对称设置。
  11. 根据权利要求10所述的农业无人飞行器，其特征在于，所述控制器选择控制所述农业无人飞行器的横滚轴的其中一侧的所述喷头连通的水泵，或者所述农业无人飞行器的横滚轴的另外一侧的所述喷头连通的水泵。
  12. 根据权利要求10所述的农业无人飞行器，其特 征在于，所述农业无人飞行器的横滚轴的每一侧的所述喷头为多个，并且共同连通一个所述水泵。
  13. 根据权利要求1所述的农业无人飞行器，其特征在于，多个所述喷头分别相较于所述农业无人飞行器的俯仰轴对称设置。
  14. 根据权利要求13所述的农业无人飞行器，其特征在于，所述控制器选择控制所述农业无人飞行器的俯仰轴的其中一侧的所述喷头连通的水泵，或者所述农业无人飞行器的俯仰轴的另外一侧的所述喷头连通的水泵。
  15. 根据权利要求13所述的农业无人飞行器，其特征在于，所述农业无人飞行器的俯仰轴的每一侧的所述喷头为多个，并且共同连通一个所述水泵。
  16. 根据权利要求1所述的农业无人飞行器，其特征在于，每个所述水泵同时连通多个所述喷头。
  17. 根据权利要求1所述的农业无人飞行器，其特征在于，所述喷头位于所述飞行动力装置的正下方或斜下方。
  18. 根据权利要求1所述的农业无人飞行器，其特征在于，所述机架包括中心体、机臂以及着陆脚架；
    所述机臂与所述中心体连接，用于支撑所述飞行动力装置；
    所述着陆脚架与所述中心体或所述机臂连接；
    其中，多个所述喷头安装在所述机臂或/及所述着陆脚架上。
  19. 根据权利要求1所述的农业无人飞行器，其特征在于，所述控制器包括：
    飞行器控制器，用于控制所述农业无人飞行器的飞行姿态；
    多个电调，与所述飞行控制器通信连接；
    其中，所述水泵包括驱动电机，每个所述电调与一个所述水泵的所述电机电连接，用于控制所述电机的工作状态。
  20. 根据权利要求19所述的农业无人飞行器，其特征在于，所述电机为无刷直流电机，所述电调通过PWM波调制方式驱动所述电机。
  21. 一种农业无人飞行器的喷洒控制方法，其特征在于，所述方法包括：
    从多个水泵中选取至少一个所述水泵，其中多个所述水泵分别与多个喷头连通；以及
    控制选取的至少一个所述水泵开始工作，通过至少一个所述水泵连通的喷头进行喷洒。
  22. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，多个所述喷头包括机头方向喷头以及机尾方向喷头，所述机头方向喷头靠近所述农业无人飞行器的机头设置，所述机尾方向喷头靠近所述农业无人飞行器的机尾设置。
  23. 根据权利要求22所述的农业无人飞行器的喷洒控制方法，其特征在于，根据预设条件自动选择控制多个所述水泵，所述预设条件包括如下至少一种：
    所述农业无人飞行器的飞行方向，作业环境的风向，所述农业无人飞行器相较于作业区域的朝向。
  24. 根据权利要求23所述的农业无人飞行器的喷洒 控制方法，其特征在于，所述农业无人飞行器朝向机头方向时，选取所述机头方向喷头或所述机尾方向喷头连通的所述水泵，通过所述机头方向喷头或所述机尾方向喷头进行喷洒。
  25. 根据权利要求23所述的农业无人飞行器的喷洒控制方法，其特征在于，所述农业无人飞行器朝向机尾方向时，选取所述机头方向喷头或所述机尾方向喷头连通的所述水泵，通过所述机头方向喷头或所述机尾方向喷头进行喷洒。
  26. 根据权利要求22所述的农业无人飞行器的喷洒控制方法，其特征在于，所述机头方向喷头为多个。
  27. 根据权利要求26所述的农业无人飞行器的喷洒控制方法，其特征在于，多个所述机头方向喷头分别位于所述农业无人飞行器的机架的两侧；
    或/及，多个所述机头方向喷头与同一个所述水泵相连通。
  28. 根据权利要求22所述的农业无人飞行器的喷洒控制方法，其特征在于，所述机尾方向喷头为多个。
  29. 根据权利要求28所述的农业无人飞行器的喷洒控制方法，其特征在于，多个所述机头方向喷头分别位于所述农业无人飞行器的机架的两侧；
    或/及，多个所述机头方向喷头与同一个所述水泵相连通。
  30. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，多个所述喷头分别相较于所述农业无人飞行器的横滚轴对称设置。
  31. 根据权利要求30所述的农业无人飞行器的喷洒控制方法，其特征在于，选取所述农业无人飞行器的横滚轴的其中一侧的所述喷头连通的水泵，或者所述农业无人飞行器的横滚轴的另外一侧的所述喷头连通的水泵。
  32. 根据权利要求30所述的农业无人飞行器的喷洒控制方法，其特征在于，所述农业无人飞行器的横滚轴的每一侧的所述喷头为多个，并且共同连通一个所述水泵。
  33. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，多个所述喷头分别相较于所述农业无人飞行器的俯仰轴对称设置。
  34. 根据权利要求33所述的农业无人飞行器的喷洒控制方法，其特征在于，选取所述农业无人飞行器的俯仰轴的其中一侧的所述喷头连通的水泵，或者所述农业无人飞行器的俯仰轴的另外一侧的所述喷头连通的水泵。
  35. 根据权利要求33所述的农业无人飞行器的喷洒控制方法，其特征在于，所述农业无人飞行器的俯仰轴的每一侧的所述喷头为多个，并且共同连通一个所述水泵。
  36. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，每个所述水泵同时连通多个所述喷头。
  37. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，所述农业无人飞行器包括机架、以及飞行动力装置，所述飞行动力装置安装在所述机架上，用于提供飞行动力；所述多个喷头安装在所述飞行 动力装置的下方。
  38. 根据权利要求37所述的农业无人飞行器的喷洒控制方法，其特征在于，所述喷头位于所述飞行动力装置的正下方或斜下方。
  39. 根据权利要求37所述的农业无人飞行器的喷洒控制方法，其特征在于，所述机架包括中心体、机臂以及着陆脚架；
    所述机臂与所述中心体连接，用于支撑所述飞行动力装置；
    所述着陆脚架与所述中心体或所述机臂连接；
    其中，多个喷头安装在所述机臂或/及所述着陆脚架上。
  40. 根据权利要求21所述的农业无人飞行器的喷洒控制方法，其特征在于，所述水泵包括驱动电机，通过所述电调用于控制所述电机的工作状态。
  41. 根据权利要求40所述的农业无人飞行器的喷洒控制方法，其特征在于，所述电机为无刷直流电机，所述电调通过PWM波调制方式驱动所述电机。
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