WO2018108159A1 - 无人机作业的方法及装置 - Google Patents

无人机作业的方法及装置 Download PDF

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Publication number
WO2018108159A1
WO2018108159A1 PCT/CN2017/116521 CN2017116521W WO2018108159A1 WO 2018108159 A1 WO2018108159 A1 WO 2018108159A1 CN 2017116521 W CN2017116521 W CN 2017116521W WO 2018108159 A1 WO2018108159 A1 WO 2018108159A1
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WIPO (PCT)
Prior art keywords
height
work object
drone
spray
job
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PCT/CN2017/116521
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English (en)
French (fr)
Inventor
吴斌
彭斌
Original Assignee
广州极飞科技有限公司
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 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to EP17881428.1A priority Critical patent/EP3557362B1/en
Priority to AU2017376716A priority patent/AU2017376716B2/en
Priority to KR1020197019405A priority patent/KR102229095B1/ko
Priority to JP2019532677A priority patent/JP7018060B2/ja
Priority to RU2019122118A priority patent/RU2728929C1/ru
Priority to PL17881428T priority patent/PL3557362T3/pl
Priority to CA3047179A priority patent/CA3047179C/en
Priority to ES17881428T priority patent/ES2905881T3/es
Priority to US16/469,883 priority patent/US11144059B2/en
Publication of WO2018108159A1 publication Critical patent/WO2018108159A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • 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
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • 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
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • 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
    • 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]

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a method for operating a drone and a device for operating a drone.
  • the unmanned aerial vehicle is an unmanned aircraft.
  • UAVs are widely used in plant protection, urban management, geology, meteorology, electric power, disaster relief, video shooting and other industries.
  • UAV plant protection has the characteristics of small damage to crops and high utilization rate of pesticides. More and more farmers or farmers use drones for plant protection operations, especially the use of drones for pesticide spraying and fertilizer spraying.
  • the existing agricultural plant protection drone operations are generally only for large-area, small-plant and densely planted crops. These crops are generally planted on flat and open farmland, so they can be sprayed by drones at specified intervals. It can cover all working areas and control the amount of spray to achieve precise spraying.
  • the drone plant protection method is generally controlled by manual remote drone. Spray pesticides on crops.
  • embodiments of the present invention have been made in order to provide a drone operation method and a corresponding drone operation device that overcomes the above problems or at least partially solves the above problems.
  • an embodiment of the present invention discloses a method for operating a drone, and the method includes:
  • the surveying information including a safe height, geographical location information, and a spray radius of the work object;
  • the working object In the position corresponding to the geographical location information, the working object is subjected to a spiral spraying operation based on the spray radius.
  • the working object has multiple, the method further includes:
  • mapping information of the next job object is read, and it is determined whether the safe height of the next job object is greater than the safe height of the current work object;
  • the location corresponding to the geographical location information of the next job object is obtained according to the security height corresponding to the current work object, and when the location corresponding to the geographical location information of the next work object is reached, the The safety height is adjusted to the safe height of the next work object, and based on the adjusted safety height, the next work object is spirally sprayed according to the spray radius of the next work object.
  • the method further includes:
  • the flying height of the drone is adjusted to a return altitude, and the return altitude is obtained by increasing the absolute altitude of the drone by a preset altitude distance;
  • the mapping information further includes an altitude and a physical height of the work object; the safety height is greater than or equal to an altitude of the work object, a physical height of the work object, and a preset spray height Sum.
  • the spraying radius further includes:
  • the flying height of the drone is lowered to the altitude of the working object, the working object, in a position corresponding to the geographical location information
  • the physical height and the height corresponding to the sum of the preset spray heights are the physical height and the height corresponding to the sum of the preset spray heights.
  • the step of performing a spiral spraying operation on the working object based on the spraying radius comprises:
  • a working parameter required for the spiral spraying operation including an initial spiral radius, a number of turns, a pitch, a spiral angular rate, wherein the initial spiral radius is less than or equal to the spray radius;
  • the job object has at least the following attributes:
  • the difference between the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection is greater than or equal to a preset threshold.
  • the embodiment of the invention also discloses a method for operating a drone, the method comprising:
  • the job object list includes mapping information of one or more job objects arranged in sequence, the mapping information including a safety height, a geographical location information, and a spray radius of the work object;
  • the current work object In the position corresponding to the geographical location information of the current work object, the current work object is sprayed based on the spray radius of the current work object;
  • mapping information of the next job object is read, and it is determined whether the safe height of the next job object is greater than the safe height of the current work object;
  • the location corresponding to the geographical location information of the next job object is obtained according to the security height corresponding to the current work object, and when the location corresponding to the geographical location information of the next work object is reached, the The safety height is adjusted to the safe height of the next work object, and based on the adjusted safety height, the next work object is sprayed according to the spray radius of the next work object.
  • the method further includes:
  • the flying height of the drone is adjusted to a return altitude, and the return altitude is obtained by increasing the absolute altitude of the drone by a preset altitude distance.
  • the mapping information further includes an altitude and a physical height of the work object; the safety height is greater than or equal to an altitude of the work object, a physical height of the work object, and a preset spray height Sum.
  • the method further includes:
  • the flying height of the drone is lowered in a position corresponding to the geographical position information of the working object before the spraying operation on the working object. The height corresponding to the altitude of the work object, the physical height of the work object, and the sum of the preset spray widths.
  • the spraying operation comprises a spiral spraying operation
  • the spiral spraying operation comprises the following steps:
  • a working parameter required for the spiral spraying operation including an initial spiral radius, a number of turns, a pitch, a spiral angular rate, wherein the initial spiral radius is less than or equal to the spray radius;
  • the job object has at least the following attributes:
  • the difference between the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection is greater than or equal to a preset threshold.
  • the embodiment of the invention also discloses a device for operating a drone, the device comprising:
  • mapping information obtaining module configured to acquire mapping information of a working object to be operated, where the mapping information includes a safety height, a geographical location information, and a spraying radius of the working object;
  • a first safety height adjustment module configured to adjust a flying height of the drone to the safe height
  • a first flight module configured to fly to a location corresponding to the geographic location information according to the safe altitude
  • the spiral spraying module is configured to perform a spiral spraying operation on the working object based on the spraying radius in a position corresponding to the geographical location information.
  • the embodiment of the invention also discloses a device for operating a drone, the device comprising:
  • a job object list obtaining module configured to acquire a job object list to be jobd, the work object list including surveying information of one or more job objects arranged in sequence, the surveying information including a safe height and a geographical position of the work object Information and spray radius;
  • the mapping information reading module is configured to acquire a job object selected from the job object list, and read the mapping information of the current job object as a current job object;
  • a second safety height adjustment module configured to adjust a flying height of the drone to a safe height of the current working object
  • a second flight module configured to fly to a location corresponding to the geographic location information of the current work object according to the safe altitude
  • the spraying module is configured to perform a spraying operation on the current working object based on a spray radius of the current working object in a position corresponding to the geographical location information of the current working object;
  • the determining module reads the mapping information of the next working object after the current working object is finished, and determines whether the safe height of the next working object is greater than the safe height of the current working object; if yes, the first height adjusting module is called, if not , the second height adjustment module is called;
  • a first height adjustment module configured to adjust a flying height of the drone to a safe height of the next working object in a position of the current working object, and call the second flying module to fly according to the adjusted safe height a location corresponding to the geographic location information of the next job object, and a location corresponding to the geographic location information of the next job object, the spray module is invoked based on the spray radius of the next work object, Describe the next work object for spraying work;
  • the second height adjustment module is configured to fly to a position corresponding to the geographical location information of the next job object according to the security height corresponding to the current work object, and when the location corresponding to the geographical location information of the next job object is reached Adjusting the safety height to the safe height of the next work object, and calling the spray module to spray the next work object according to the spray radius of the next work object based on the adjusted safety height .
  • the embodiments of the present invention can apply the geographical information of each crop in advance by using the unmanned plant protection operation in which the crop growth topography is uneven, not empty, or the physical height and physical width of the crop are inconsistent, and the crop environment is complicated.
  • the drone autonomously flies to each crop for spiral flight, the flight curve is continuous, and each crop is sprayed in a cover manner, and the dose is accurately controlled according to the spiral state, so that the precise spraying effect can be achieved.
  • the embodiment of the invention does not require manual participation, saves labor costs, improves spraying efficiency, and reduces the probability of missed errors caused by manual spraying, leakage jet, and re-spray probability.
  • FIG. 1 is a flow chart showing the steps of a first embodiment of a method for operating a drone according to the present invention
  • FIG. 2 is a schematic view showing the spray height of the working object in the first embodiment of the method for operating a drone according to the present invention
  • FIG. 3 is a schematic view of a spiral spray trajectory in a first embodiment of a method for operating a drone of the present invention
  • FIG. 4 is a flow chart showing the steps of a second embodiment of the method for operating a drone according to the present invention.
  • Figure 5 is a block diagram showing the structure of a first embodiment of a device for operating a drone according to the present invention
  • Fig. 6 is a block diagram showing the structure of a second embodiment of an apparatus for operating a drone according to the present invention.
  • FIG. 1 there is shown a flow chart of the steps of a first embodiment of a method for operating a drone of the present invention.
  • the flight control system (referred to as flight control) can control the drone to complete the whole flight process such as take-off, air flight, execution task and return flight.
  • the flight control is equivalent to the driver's effect on the manned aircraft. It is one of the core technologies of drones.
  • the ground station can communicate with the drone.
  • the ground station can be a handheld ground station, which can be built with high-precision GPS, and can support rapid mapping of irregular block boundaries. When the ground station is used, no need to connect a computer.
  • the drone flight parameters can be adjusted directly.
  • the ground station has an intelligent route planning function, which supports the preset of the spray point switch, and can effectively avoid the phenomenon of heavy spray or leaking during the operation. During the spraying process, the user can also monitor the flight and spraying status in real time through the ground station, so that the spraying is more precise and efficient.
  • the embodiment of the present invention is written from the side of the drone, and may specifically include the following steps:
  • Step 101 Obtain mapping information of a work object to be operated
  • the job object to be job may have one or more, and when there may be more than one job object to be jobd, the job object list of the one or more job objects may be acquired, and the job object list may include each Mapping information of the work objects.
  • the embodiment of the present invention can be applied to a plant protection operation that is uneven and/or not open to the ground.
  • the work object in the embodiment of the present invention may have at least the following attributes: the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection. The difference is greater than or equal to the preset threshold.
  • the work object may include, but is not limited to, a crop of a fruit tree type.
  • Fruit-type crops can grow under different topography, and the physical height between the tree and the tree (the distance between the surface height and the top of the tree) and the physical width (the diameter of the circumcircle below the vertical projection plane of the tree or The difference between the width of the outermost leaves is relatively large.
  • the mapping information may include, but is not limited to, an altitude, a physical height, a physical width, a safety height, a geographical location information, a spray radius, and the like of the work object.
  • the safe height refers to the flying height of the drone's safe and unobstructed flight.
  • the value of the safety height may be greater than or equal to the sum of the altitude of the work object, the physical height, and the preset spray height.
  • the altitude and physical height of the work object are measured based on the measurement.
  • the height of the spray is the height of the top of the tree sprayed by the drone, that is, the height at which the drone is sprayed to the best effect when the drone is at a height of the top of the work object. This value can be determined by the operator or developer.
  • the experience is set in advance, for example, when set to 1 m, it means that the drone is optimally sprayed when it is 1 m from the top of the work object.
  • the spray width of each work object may be the same, or may be set according to the growth property and the growth environment of the work object, which is not limited in the embodiment of the present invention.
  • the safe height can be set to be greater than or equal to H+h1+. h.
  • the safety height can be set to be greater than H+h1+h.
  • the ground height measuring device refers to a sensor for detecting the distance of the drone from the object below the drone, and may include ultrasonic radar, radio radar, TOF (Time of Flight), laser radar, and the like.
  • the geographical location information may be the center point latitude and longitude of the work object.
  • the center point of the work object may be the center of the circumcircle of the tree trunk or the vertical projection surface of the tree; the spray radius may be the outermost layer
  • the distance of the leaves from the trunk of the tree or the radius of the above-mentioned circumscribed circle shall be sprayed into place during the spraying operation.
  • the drone obtains the work object list
  • the work object when the work object list is displayed, the work object can be managed according to the corresponding geographical location information, and the number is arranged, and the work object number is placed at the time.
  • the operator On the vertical projection map of the job task, the operator can select the job object that currently needs the job as needed.
  • the number of the work objects can be numbered in the order of mapping, or in a certain direction, such as the north direction. If it is plant protection on the hillside, it can be arranged in layers from low to high.
  • the drone can obtain the mapping information of the working object from the ground station through the data link, and the mapping information in the ground station can be obtained by the surveying instrument or aerial survey.
  • the operator can accurately map each fruit tree in the orchard that needs to be applied through the mapping device, and obtain the corresponding mapping information, then transmit the mapping information to the server, and then the server transmits the mapping information to the handheld ground station through the network. Then, the ground station transmits the flight controller to the drone.
  • Step 102 adjusting the flying height of the drone to the safe height, and flying to the position corresponding to the geographical location information according to the safe altitude;
  • the safe height of the current working object can be determined from the mapping information, and when the drone is started, the flying height of the drone can be adjusted to the above safe height. And flying to the position indicated by the geographical position information of the work object at the set flight speed at the safe altitude.
  • the work object with the highest number in the work object list may be used as the work object to be currently operated, and then each job object is sequentially flowed to perform the work.
  • the high-precision GPS mapper in the drone can also automatically record the starting position of the drone when taking off (such as the latitude and longitude of the take-off point) and the absolute altitude corresponding to the starting position. height.
  • Step 103 Perform a spiral spraying operation on the working object based on the spray radius in a position corresponding to the geographical location information.
  • the embodiment of the present invention may further include the following steps:
  • the flying height of the drone is lowered to the altitude of the working object, the working object, in a position corresponding to the geographical location information
  • the physical height and the height corresponding to the sum of the preset spray heights are the physical height and the height corresponding to the sum of the preset spray heights.
  • the spray height may be determined first before performing step 103. If the drone is equipped with a ground height measuring device, the spray height may be the height corresponding to the altitude of the current working object, the physical height, and the preset spray height. At this time, if the safety height of the drone is greater than the spray height, the flying height of the drone can be lowered to the spray height.
  • the safety height can be directly used as the spraying height.
  • the current work object may be spirally sprayed according to the spray radius measured in the position corresponding to the geographical position information of the current work object based on the spray height.
  • step 103 may include the following sub-steps:
  • Sub-step S11 determining a working parameter required for the spiral spraying operation, the working parameter comprising an initial spiral radius, a number of turns, a pitch, a spiral angular rate, wherein the initial spiral radius is smaller than the spray radius;
  • Sub-step S12 taking the geographical location information of the work object as a spiral center, starting the surrounding flight with the initial spiral radius, increasing the corresponding pitch every turn until the number of coils is satisfied and/or the spray radius is reached.
  • the work of the work object is completed, and the fuselage is rotated at the spiral angular rate during the flight.
  • the Archimedes spiral (also known as a constant velocity spiral) is a trajectory generated by a point moving at a fixed point while rotating at a fixed angular velocity around the fixed point.
  • the operating parameters required for the spiral spraying operation can be determined first.
  • the job parameters may include, but are not limited to, an initial hover radius r, a number of hoops n, a pitch d, a helix angular rate, a rotational angular rate, a hovering speed, a spray radius R of a current work object, and the like.
  • the initial hover radius r can be set according to the model of the drone, the size of the fuselage, the position of the nozzle, and/or the actual experimental data. For example, if the drone is a quadrotor model with a width of 1.5 m, r can be set. It is about 0.75m.
  • the number of hoops n and the hovering speed can be set according to the actual spray amount of the current work object. For example, if a tree needs to spray 1L of pesticide, and 0.3L of pesticide is sprayed in one turn, the number of hoops can be 3 turns.
  • the angular rate of rotation is the angular velocity of the aircraft relative to its own center rotation.
  • the value is controlled by the flight control.
  • the control effect can be, for example, that the nose or an arm always points to the center of the spiral during the hovering process.
  • the initial spiral radius r is smaller than the spray radius R.
  • the geographical position information of the working object is taken as the spiral center, and the flying from the center to the outer ring starts from the inside and the outside with the initial spiral radius, the radius of the spiral is larger and larger, and the radius of each revolution is expanded.
  • the same pitch is sprayed until the drone radius of the drone is greater than the set working circle radius R.
  • the fuselage can be rotated at the same time, and the angular rate of rotation and the angular rate of the helix are the same, so that the head can be pointed at a fixed angle with respect to the center of the drone with respect to the center of the spiral.
  • the embodiment of the present invention is not limited to the above-mentioned spiral from the inside to the outside, and the spiral may also be an outer-inner spiral, that is, the initial spiral radius is equal to the spray radius, and the spiral radius is smaller and smaller.
  • the aircraft can be sprayed in situ without flying in accordance with the flight path of the Archimedes spiral.
  • the embodiment of the present invention may further include the following steps:
  • Reading the mapping information of the next job object determining whether the safe height of the next work object is greater than the safe height of the current work object; if yes, adjusting the flying height of the drone to the a safe height of the next work object, and a position corresponding to the geographical position information of the next work object according to the adjusted safety height, in the position corresponding to the geographical position information of the next work object, based on a spray radius of the next work object, performing a spiral spraying operation on the next work object; if not, flying to a position corresponding to the geographical position information of the next work object according to the safe height corresponding to the current work object And when the location corresponding to the geographical location information of the next work object is reached, the safe height is adjusted to the safe height of the next work object, and based on the adjusted safety height, according to the next The spray radius of the work object is subjected to a spiral spraying operation on the next work object.
  • the mapping information of the next job object arranged after the current work object may be read, and the next job object is extracted from the survey information.
  • the safe height and determine whether the safe height of the next work object is greater than the safe height of the current work object, and if so, climb the flying height of the drone in the position of the current work object to the safe height of the next work object (If there is a ground height measuring device, first climb to the safe height of the current working object, then climb from the safe height of the current working object to the safe height of the next working object), and drive the drone to adjust
  • the safe altitude is to the location corresponding to the geographic location information of the next work object, and in the location corresponding to the geographic location information of the next work object, refer to the method described in the above step 103, based on the next The spray radius of the work object is subjected to a spiral spray operation on the next work object.
  • the tree on the left is lower than the height of the tree in the middle.
  • the drone can first climb the safe height to the tree in the middle of the tree on the left. The safe height, then fly to the position of the tree in the middle according to the safe height of the middle tree. If the drone is equipped with the ground height measuring device, the height of the drone is lowered to the middle tree in the position of the middle tree. The spray height is then spiraled to the middle tree based on the spray height.
  • the safe height of the next work object is smaller than the safe height of the current work object, the location corresponding to the geographic location information of the next work object may be flighted according to the safe height corresponding to the current work object, and the next time the next work object is reached.
  • the safe height may be adjusted to the safe height or the spray height of the next work object, and then based on the method described in the above step 103, based on the spray of the next work object The radius is used to perform a spiral spraying operation on the next working object.
  • the tree on the right has a lower safety height than the tree in the middle.
  • the drone can fly to the position of the tree on the right at the safe height of the middle tree, and then on the right.
  • the position of the tree reduces the safety height to the safe height of the tree on the right (when there is no ground height measuring device) or the spray height of the tree on the right (when there is a ground height measuring device), and then gives the tree to the right based on the spray height Perform a spiral spraying operation.
  • the embodiment of the present invention may further include the following steps:
  • the return altitude is obtained by increasing the absolute altitude of the drone by a preset altitude distance; flying to the starting position according to the return altitude, and landing at the starting position.
  • the drone may first obtain the starting position recorded at the time of takeoff and the absolute altitude corresponding to the starting position, and according to the absolute altitude corresponding to the starting position. And the sum of the preset altitudes to determine the return altitude.
  • the preset altitude distance is used to ensure that the drone can safely return to the air without hitting an obstacle.
  • the distance can be set by the operator or the developer according to the actual situation. For example, it can be set to 5m, or when no When the takeoff point of the man-machine is at the highest point of the working block, the preset altitude distance can be set to 3m.
  • the drone After determining the return altitude, the drone can climb to the return altitude and fly to the starting position according to the return altitude. When the starting position is reached, the drone descends at the starting position.
  • the embodiments of the present invention can apply the geographical information of each crop in advance by using the unmanned plant protection operation in which the crop growth topography is not flat, not empty, and the physical height and physical width of the crop are inconsistent, and the work environment is complicated.
  • the drone autonomously flies to each operation for spiral flight, the flight curve is continuous, and each crop is sprayed in a cover manner, and the dose is accurately controlled according to the spiral state, so that the precise spraying effect can be achieved.
  • the embodiment of the invention does not require manual participation, saves labor costs, improves spraying efficiency, and reduces the probability of missed errors caused by manual spraying, leakage jet, and re-spray probability.
  • FIG. 4 a flow chart of the steps of the second embodiment of the method for operating a drone of the present invention is shown, which may specifically include the following steps:
  • Step 201 Obtain a job object list to be a job, the job object list includes mapping information of one or more job objects arranged in sequence, and the mapping information includes a safety height, a geographical location information, and a spray radius of the work object;
  • the embodiment of the present invention can be applied to a plant protection operation that is uneven and/or not open to the ground.
  • the work object in the embodiment of the present invention may have at least the following attributes: the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection. The difference is greater than or equal to the preset threshold.
  • the work object may include, but is not limited to, a crop of a fruit tree type.
  • Fruit-type crops can grow under different topography, and the physical height between the tree and the tree (the distance between the surface height and the top of the tree) and the physical width (the diameter of the circumcircle below the vertical projection plane of the tree or The difference between the width of the outermost leaves is relatively large.
  • the job object list may include mapping information of a plurality of job objects.
  • the mapping information may include, but is not limited to, an altitude, a physical height, a physical width, a safety height, a geographical location information, a spray radius, and the like of the work object.
  • the safe height refers to the flying height of the drone's safe and unobstructed flight.
  • the value of the safety height may be greater than or equal to the sum of the altitude of the work object, the physical height, and the preset spray height.
  • the altitude and physical height of the work object are measured based on the measurement.
  • the height of the spray is the height of the top of the tree sprayed by the drone, that is, the height at which the drone is sprayed to the best effect when the drone is at a height of the top of the work object. This value can be determined by the operator or developer.
  • the experience is set in advance, for example, when set to 1 m, it means that the drone is optimally sprayed when it is 1 m from the top of the work object.
  • the spray width of each work object may be the same, or may be set according to the growth property and the growth environment of the work object, which is not limited in the embodiment of the present invention.
  • the safe height can be set to be greater than or equal to H+h1+. h.
  • the safety height can be set to be greater than H+h1+h.
  • the geographical location information may be the center point latitude and longitude of the work object.
  • the center point of the work object may be the center of the circumcircle of the tree trunk or the vertical projection surface of the tree; the spray radius may be the outermost layer
  • the distance of the leaves from the trunk of the tree or the radius of the above-mentioned circumscribed circle shall be sprayed into place during the spraying operation.
  • the job object when the job object list is displayed, the job object can be managed according to the corresponding geographical location information, and the number is arranged, and the number of the job object is placed on the vertical projection map of the job task, and the operator can Select the job object that currently needs the job as needed.
  • the number of the work objects can be numbered in the order of mapping, or in a certain direction, such as the north direction. If it is plant protection on the hillside, it can be arranged in layers from low to high.
  • the drone can obtain a list of work objects from the ground station through the data link, and the survey information in the ground station can be obtained by a surveyer or aerial survey.
  • the operator can accurately map each fruit tree in the orchard that needs to be applied through the mapping device, and obtain the corresponding mapping information, then transmit the mapping information to the server, and then the server transmits the mapping information to the handheld ground station through the network. Then, the ground station transmits the flight controller to the drone.
  • Step 202 Acquire a job object selected from the job object list, and read the mapping information of the current job object as a current job object;
  • the job object with the highest number in the job object list can be used as the job object to be currently operated, and then, each job object is sequentially flowed to perform the job.
  • the UAV can also obtain the job object selected by the operator from the job object list as the current job object, which is not limited by the embodiment of the present invention.
  • the high-precision GPS mapper in the drone can also automatically record the starting position of the drone when taking off (such as the latitude and longitude of the take-off point) and the absolute altitude corresponding to the starting position. height.
  • Step 203 adjusting the flying height of the drone to the safe height of the current working object, and flying to the position corresponding to the geographical location information of the current working object according to the safe height;
  • the safe height of the current working object can be determined from the mapping information, and when the drone is started, the flying height of the drone can be adjusted to the above-mentioned safe height, and The safety altitude is flown to the position indicated by the geographical position information of the current work object at the set flight speed.
  • Step 204 In the position corresponding to the geographical location information of the current work object, perform a spraying operation on the current work object based on the spray radius of the current work object;
  • the embodiment of the present invention may further include the following steps before the step 204 is performed:
  • the flying height of the drone is lowered in a position corresponding to the geographical position information of the working object before the spraying operation on the working object. The height corresponding to the altitude of the work object, the physical height of the work object, and the sum of the preset spray widths.
  • the spray height may be determined first before performing step 204. If the drone is equipped with a ground height measuring device, the spray height may be the height corresponding to the altitude of the current working object, the physical height, and the preset spray height. At this time, if the safety height of the drone is greater than the spray height, the flying height of the drone can be lowered to the spray height.
  • the safety height can be directly used as the spraying height.
  • the current work object may be sprayed based on the spray height in the position corresponding to the geographical position information of the current work object.
  • the spraying operation includes a spiral spraying operation
  • the screw spraying operation means that the drone can perform the working spraying according to the flight path of the Archimedes spiral.
  • step 204 may include the following sub-steps:
  • Sub-step S21 determining a working parameter required for the spiral spraying operation, the working parameter comprising an initial spiral radius, a number of turns, a pitch, a spiral angular rate, wherein the initial spiral radius is less than or equal to the spray radius;
  • Sub-step S22 taking the geographical location information of the work object to be operated as the spiral center, starting the surrounding flight with the initial spiral radius, increasing the corresponding pitch every turn until the number of coils is satisfied and/or the spray radius is reached. Then, the work of the work object is completed, and during the flight, the body is rotated according to the spiral angular rate.
  • the operating parameters required for the spiral spraying operation can be determined first.
  • the job parameters may include, but are not limited to, an initial hover radius r, a number of hoops n, a pitch d, a helix angular rate, a rotational angular rate, a hovering speed, a spray radius R of a current work object, and the like.
  • the initial hover radius r can be set according to the model of the drone, the size of the fuselage, the position of the nozzle, and/or the actual experimental data. For example, if the drone is a quadrotor model with a width of 1.5 m, r can be set. It is about 0.75m.
  • the number of hoops n and the hovering speed can be set according to the actual spray amount of the current work object. For example, if a tree needs to spray 1L of pesticide, and 0.3L of pesticide is sprayed in one turn, the number of hoops can be 3 turns.
  • the angular rate of rotation is the angular velocity of the aircraft relative to its own center rotation.
  • the value is controlled by the flight control.
  • the control effect can be, for example, that the nose or an arm always points to the center of the spiral during the hovering process.
  • the initial spiral radius r is smaller than the spray radius R.
  • the geographical position information of the working object is taken as the spiral center, and the flying from the center to the outer ring starts from the inside and the outside with the initial spiral radius, the radius of the spiral is larger and larger, and the radius of each revolution is expanded.
  • the same pitch is sprayed until the drone radius of the drone is greater than the set working circle radius R.
  • the fuselage can be rotated at the same time, and the angular rate of rotation and the angular rate of the helix are the same, so that the head can be pointed at a fixed angle with respect to the center of the unmanned machine relative to the center of the spiral.
  • the embodiment of the present invention is not limited to the above-mentioned spiral from the inside to the outside, and the spiral may also be an outward-inward spiral, that is, the drone radius of the drone is equal to the set working circle radius R, and the radius of the spiral is larger. The smaller it is.
  • the aircraft can be sprayed in situ without flying in accordance with the flight path of the Archimedes spiral.
  • Step 205 after the current job object is completed, reading the mapping information of the next job object, determining whether the safe height of the next job object is greater than the safe height of the current work object; if yes, executing step 206; if not, executing Step 207.
  • Step 206 Adjust the flying height of the drone to the safe height of the next working object in the position of the current working object, and fly to the geographic location information of the next working object according to the adjusted safe height. Corresponding position, in the position corresponding to the geographical location information of the next work object, spraying the next work object based on the spray radius of the next work object;
  • Step 207 Flying to a location corresponding to the geographic location information of the next job object according to the security height corresponding to the current job object, and when the location corresponding to the geographic location information of the next job object is reached, the security is performed.
  • the height is adjusted to the safe height of the next work object, and based on the adjusted safety height, the next work object is sprayed according to the spray radius of the next work object.
  • the mapping information of the next job object arranged after the current job object can be read, and the safe height of the next job object is extracted from the mapping information. And determining whether the safe height of the next work object is greater than the safe height of the current work object, and if so, climbing the flying height of the drone to the safe height of the next work object in the current work object position (if any) In the case of the ground height measuring device, first climb to the safe height of the current working object, then climb from the safe height of the current working object to the safe height of the next working object), and drive the drone according to the adjusted safe height.
  • the spray radius is used to perform a spiral spraying operation on the next work object.
  • the location corresponding to the geographic location information of the next work object may be located according to the safe height corresponding to the current work object, and the next work object is reached.
  • the safe height may be adjusted to the safe height or the spray height of the next work object, and then according to the method described in the above step 204, based on the spray radius of the next work object, The next work object is subjected to a spiral spraying operation.
  • the embodiment of the present invention may further include the following steps:
  • the return altitude is obtained by increasing the absolute altitude of the drone by a preset altitude distance; flying to the starting position according to the return altitude, and landing at the starting position.
  • the embodiments of the present invention can apply the geographical information of each crop in advance by using the unmanned plant protection operation in which the crop growth topography is not flat, not empty, and the physical height and physical width of the crop are inconsistent, and the work environment is complicated.
  • the drone can independently adjust the safe height of each crop, and spray each job in turn, without manual participation, saving labor costs, improving spraying efficiency, and reducing errors caused by manual spraying. Probability, leakage, and re-spray probability.
  • FIG. 5 a structural block diagram of a first embodiment of an apparatus for operating a drone according to the present invention is shown, which may include the following modules:
  • the mapping information obtaining module 301 is configured to acquire mapping information of the working object to be operated, where the mapping information includes a safety height, a geographical location information, and a spraying radius of the working object;
  • the first safety height adjustment module 302 is configured to adjust the flying height of the drone to the safe height
  • the first flight module 303 is configured to fly to a location corresponding to the geographic location information according to the safe altitude;
  • the spiral spraying module 304 is configured to perform a spiral spraying operation on the working object based on the spraying radius in a position corresponding to the geographical location information.
  • the working object has multiple, and the device may further include:
  • the height determining module is configured to read the mapping information of the next working object after the current working object is finished, and determine whether the safe height of the next working object is greater than the safe height of the current working object; if yes, call the third height adjusting module If not, the fourth height adjustment module is invoked;
  • a third height adjustment module configured to adjust a flight height of the drone to a safe height of the next work object in a position of the current work object, and call the first flight module to fly according to the adjusted safety height a location corresponding to the geographic location information of the next job object, in a location corresponding to the geographic location information of the next job object, invoking a spiral spray module based on a spray radius of the next work object, The next work object is subjected to a spiral spraying operation;
  • the fourth height adjustment module is configured to fly to a position corresponding to the geographical location information of the next job object according to the security height corresponding to the current work object, and when the location corresponding to the geographical location information of the next job object is reached Adjusting the safety height to the safe height of the next work object, and calling the spiral spray module to spiral the next work object according to the spray radius of the next work object based on the adjusted safety height Spraying work.
  • the device further includes:
  • a first starting point information acquiring module configured to acquire a starting point position when the drone takes off and an absolute altitude corresponding to the starting point position
  • a first return altitude adjustment module configured to adjust a flight height of the drone to a return altitude after the execution of the unmanned aerial vehicle is completed, the return altitude being an absolute altitude of the drone Obtained after the height is increased by the preset altitude;
  • the first returning module is configured to fly to the starting position according to the return altitude and to land at the starting position.
  • the mapping information further includes an altitude and a physical height of the work object; the safety height is greater than or equal to an altitude of the work object, and the work object The physical height, and the sum of the preset spray heights.
  • the device when the safety height is greater than an altitude of the work object, a physical height of the work object, and a preset spray height, the device further include:
  • a first height reduction module configured to reduce a flying height of the drone to the working object in a position corresponding to the geographic location information if the unmanned aerial vehicle is equipped with a ground height measuring device The height of the altitude, the physical height of the work object, and the height of the preset spray height.
  • the spiral spray module 304 includes the following sub-modules:
  • a first job parameter determination sub-module configured to determine a job parameter required for the spiral spray operation, the work parameter including an initial hover radius, a number of turns, a pitch, a helix angle rate, wherein the initial hover radius is less than or equal to Spray radius
  • a first spiral flight sub-module configured to take the geographical position information of the work object as a spiral center, start the surrounding flight with the initial spiral radius, and increase the corresponding pitch every turn until the number of coils and/or arrival is satisfied.
  • the spray radius completes the work of the work object, and during the flight, the body is rotated according to the spiral angular rate.
  • the job object has at least the following attributes:
  • the difference between the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection is greater than or equal to a preset threshold.
  • FIG. 6 a structural block diagram of a second embodiment of an apparatus for operating a drone according to the present invention is shown, which may include the following modules:
  • the job object list obtaining module 401 is configured to acquire a job object list to be jobd, the job object list including mapping information of one or more job objects arranged in sequence, the mapping information including a safety height and a geography of the work object Location information and spray radius;
  • the mapping information reading module 402 is configured to acquire a job object selected from the job object list, and read the mapping information of the current job object as a current job object;
  • the second safety height adjustment module 403 is configured to adjust the flying height of the drone to the safe height of the current working object
  • a second flight module 404 configured to fly to a location corresponding to the geographic location information of the current work object according to the safe altitude
  • the spraying module 405 is configured to perform a spraying operation on the current working object based on a spray radius of the current working object in a position corresponding to the geographical location information of the current working object;
  • the determining module 406 reads the mapping information of the next working object after the current working object is finished, and determines whether the safe height of the next working object is greater than the safe height of the current working object; if yes, the first height adjusting module is called, if No, the second height adjustment module is called;
  • the first height adjustment module 407 is configured to adjust the flight height of the drone to the safe height of the next work object in the position of the current work object, and call the second flight module to fly according to the adjusted safety height. a location corresponding to the geographic location information of the next work object, and a location corresponding to the geographic location information of the next work object, the spray module is invoked based on the spray radius of the next work object, The next work object is sprayed;
  • the second height adjustment module 408 is configured to fly to the location corresponding to the geographical location information of the next job object according to the security height corresponding to the current work object, and reach the location corresponding to the geographic location information of the next job object. Adjusting the safety height to the safe height of the next work object, and calling the spray module to spray the next work object according to the spray radius of the next work object based on the adjusted safety height operation.
  • the device further includes:
  • a second starting point information acquiring module configured to acquire a starting point position when the drone takes off and an absolute altitude corresponding to the starting point position
  • a second return altitude adjustment module is configured to adjust a flight height of the drone to a return altitude after the work objects in the work object list are all completed, and the return altitude is an absolute of the drone Obtained after the altitude is increased by the preset altitude distance;
  • the second returning module is configured to fly to the starting position according to the return altitude and to land at the starting position.
  • the mapping information further includes an altitude and a physical height of the work object; the safety height is greater than or equal to an altitude of the work object, and the work object The physical height, and the sum of the preset spray heights.
  • the device when the safe height of a work object is greater than the altitude of the work object, the physical height of the work object, and the sum of the preset spray heights, the device also includes:
  • a second height reduction module configured to: if the work object is mounted with a ground height measuring device, before the spraying operation on the work object, in a position corresponding to the geographical location information of the work object The flying height of the drone is lowered to the altitude corresponding to the altitude of the work object, the physical height of the work object, and the sum of the preset spray heights.
  • the spraying operation includes a spiral spraying operation, and the following module is invoked to perform a spiral spraying operation:
  • a second job parameter determining sub-module configured to determine a job parameter required for the spiral spraying operation, the working parameter including an initial spiral radius, a number of turns, a pitch, and a spiral angular rate, wherein the initial spiral radius is less than or equal to Spray radius
  • a second spiral flight sub-module configured to take the geographical position information of the work object to be operated as a spiral center, start the surrounding flight with the initial spiral radius, and increase the corresponding pitch every turn until the number of coils is satisfied and/or The work of the work object is completed when the spray radius is reached, and the fuselage is rotated at the spiral angular rate during the flight.
  • the job object has at least the following attributes:
  • the difference between the physical height between the work objects or the diameter of the circumscribed circle under the orthographic projection is greater than or equal to a preset threshold.
  • embodiments of the embodiments of the invention may be provided as a method, apparatus, or computer program product.
  • embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • Embodiments of the invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal device to produce a machine such that instructions are executed by a processor of a computer or other programmable data processing terminal device
  • Means are provided for implementing the functions specified in one or more of the flow or in one or more blocks of the flow chart.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction device implements the functions specified in one or more blocks of the flowchart or in a flow or block of the flowchart.

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Abstract

一种无人机作业的方法及装置，该方法包括获取待作业的作业对象的测绘信息（101），测绘信息包括作业对象的安全高度、地理位置信息以及喷洒半径；将无人机的飞行高度调整至安全高度，并按照该安全高度飞往地理位置信息所对应的位置（102）；在该地理位置信息所对应的位置中，基于喷洒半径，对作业对象进行螺旋喷洒作业（103）。该方法与装置可以由无人机自主飞行到每个作物中进行螺旋飞行，飞行曲线连续，对每个作物进行覆盖性喷洒，并根据螺旋状态精确控制药量，可以达到精确喷洒的效果。

Description

无人机作业的方法及装置 技术领域
本发明涉及无人飞行器技术领域，特别是涉及一种无人机作业的方法以及一种无人机作业的装置。
背景技术
无人驾驶飞机简称无人机(Unmanned Aerial Vehicle，简称UAV)，是一种不载人飞机。无人机的用途广泛，经常被应用于植保、城市管理、地质、气象、电力、抢险救灾、视频拍摄等行业。
随着无人机植保技术的发展，使得无人机植保具有对作物损害小、农药利用率高等特点。越来越多的农户或农场主利用无人机进行植保作业，特别是利用无人机进行农药喷洒和化肥喷洒。
现有的农业植保无人机作业一般只针对大面积、植株小并且种植密集的农作物，这种作物一般种植在地势平坦而且空旷的农田上，所以可以通过无人机按指定行距一行行扫描喷洒即可覆盖所有作业面积，并控制好喷洒药量以达到精准喷洒的目的。
针对果树类型的作物，由于其生长在不同的地形地貌下，而且树的高度不一，导致作业环境复杂，因此目前针对果树类型的作物，无人机植保方式一般都是通过手动遥控无人机进行作物农药喷洒。
然而，这种通过手动遥控无人机进行作物农药喷洒的方式会存在如下不足：
第一，由于通过手动遥控无人机喷洒果树的方法需要操作人员全程参与，人力成本较高；
第二，果树容易遮挡人的视线，增加了操作人员控制无人机的难度，导致人工作业失误增加，很容易造成有些果树漏喷，甚至飞行事故；
第三，人为控制农药喷洒很难把控喷洒药量，达不到精准喷洒的效果。
发明内容
鉴于上述问题，提出了本发明实施例以便提供一种克服上述问题或者至少部分地解决上述问题的一种无人机作业的方法和相应的一种无人机作业的装置。
为了解决上述问题，本发明实施例公开了一种无人机作业的方法，所述方法包括：
获取待作业的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
将无人机的飞行高度调整至所述安全高度，并按照所述安全高度飞往所述地理位置信息所对应的位置；
在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业。
优选地，所述作业对象有多个，所述方法还包括：
当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；
若是，则在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行螺旋喷洒作业；
若否，则按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行螺旋喷洒作业。
优选地，所述方法还包括：
获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
当所述无人机的当架次作业执行完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
优选地，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
优选地，当所述安全高度大于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业的步骤之前，还包括：
若所述无人机安装有对地高度测量装置，则在所述地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
优选地，所述在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业的步骤包括：
确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
以所述作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
优选地，所述作业对象至少具有如下属性：
作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
本发明实施例还公开了一种无人机作业的方法，所述方法包括：
获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
将无人机的飞行高度调整至当前作业对象的安全高度，并按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
在当前作业对象的地理位置信息所对应的位置中，基于当前作业对象的喷洒半径，对当前作业对象进行喷洒作业；
当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；
若是，则在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
若否，则按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
优选地，所述方法还包括：
获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
当所述作业对象列表中的作业对象都作业完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
优选地，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
优选地，当某个作业对象的安全高度大于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，所述方法还包括：
若所述作业对象安装有对地高度测量装置，则在对所述作业对象进行喷洒作业以前，在所述作业对象的地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
优选地，所述喷洒作业包括螺旋喷洒作业，所述螺旋喷洒作业包括如下步骤：
确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
以待作业的作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
优选地，所述作业对象至少具有如下属性：
作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
本发明实施例还公开了一种无人机作业的装置，所述装置包括：
测绘信息获取模块，设置为获取待作业的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
第一安全高度调整模块，设置为将无人机的飞行高度调整至所述安全高度；
第一飞行模块，设置为按照所述安全高度飞往所述地理位置信息所对应的位置；
螺旋喷洒模块，设置为在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业。
本发明实施例还公开了一种无人机作业的装置，所述装置包括：
作业对象列表获取模块，设置为获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
测绘信息读取模块，设置为获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
第二安全高度调整模块，设置为将无人机的飞行高度调整至当前作业对象的安全高度；
第二飞行模块，设置为按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
喷洒模块，设置为在当前作业对象的地理位置信息所对应的位置中，基于当前作业对象的喷洒半径，对当前作业对象进行喷洒作业；
判断模块，当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则调用第一高度调整模块，若否，则调用第二高度调整模块；
第一高度调整模块，设置为在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并调用第二飞行模块按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，以及，在所述下一作业对象的地理 位置信息所对应的位置中，调用喷洒模块基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
第二高度调整模块，设置为按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，调用喷洒模块基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
本发明实施例包括以下优点：
本发明实施例可以应用作物生长地形地貌不平坦、不空旷，或作物之间的物理高度以及物理宽度不一致等作业环境复杂的无人机植保作业中，通过提前测绘好每个作物的地理信息及生长情况，无人机自主飞行到每个作物中进行螺旋飞行，飞行曲线连续，对每个作物进行覆盖性地喷洒，并根据螺旋状态精确控制药量，可以达到精准喷洒的效果。
同时，本发明实施例无需人工全程参与，节省了人力成本，提高了喷洒效率，并减少了因人力喷洒导致的失误的概率、漏喷、重喷概率。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是本发明的一种无人机作业的方法实施例一的步骤流程图；
图2是本发明的一种无人机作业的方法实施例一中的作业对象喷洒高度示意图；
图3是本发明的一种无人机作业的方法实施例一中的螺旋喷洒轨迹示意图；
图4是本发明的一种无人机作业的方法实施例二的步骤流程图；
图5是本发明的一种无人机作业的装置实施例一的结构框图；
图6是本发明的一种无人机作业的装置实施例二的结构框图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
参照图1，示出了本发明的一种无人机作业的方法实施例一的步骤流程图。
在具体实现中，可以通过飞行控制系统(简称飞控)控制无人机完成起飞、空中飞行、执行作业任务和返航等整个飞行过程，飞控对于无人机相当于驾驶员对于有人机的作用，是无人机最核心的技术之一。
地面站可以与无人机进行通信，在实现中，该地面站可以为手持地面站，其中可以内置高精度GPS，支持不规则地块边界的快速测绘，使用该地面站时，无需连接电脑，即可直接调节无人机飞行参数。该地面站具有智能航线规划功能，支持喷洒点开关预设，可有效避免作业过程中出现重喷或漏喷现象。喷洒过程中，用户还可以通过地面站实时监测飞行及喷洒状态，让喷洒更精准、高效。
本发明实施例从无人机侧撰写，具体可以包括如下步骤：
步骤101，获取待作业的作业对象的测绘信息；
在具体实现中，待作业的作业对象可以有一个或一个以上，当待作业的作业对象可以有一个以上时，可以获取该一个以上的作业对象的作业对象列表，该作业对象列表中可以包括每个作业对象的测绘信息。
本发明实施例可以应用于不平坦和/或不空旷地面的植保作业，则本发明实施例中的作业对象至少可以具有如下属性：作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
作为一种示例，该作业对象可以包括但不限于果树类型的作物。
果树类型的作物可以生长在不同的地形地貌下，并且树与树之间的物理高度(地表高度到树的最顶端之间的距离)和物理宽度(树垂直投影面下的外接圆的直径或最外层树叶之间的宽度)的差异都比较大。
作为本发明实施例的一种优选示例，测绘信息可以包括但不限于：作业对象的海拔高度、物理高度、物理宽度、安全高度、地理位置信息以及喷洒半径等。
具体的，安全高度是指无人机安全无障碍飞行的飞行高度。该安全高度的数值可 以大于或等于作业对象的海拔高度、物理高度、以及预设的喷洒幅高之和。
具体的，作业对象的海拔高度以及物理高度是根据测量得到的。
喷洒幅高指的是无人机喷洒的最佳对树顶的高度，即无人机距离作业对象最顶端高h米时喷洒达到最佳效果的高度，该值可以通过操作人员或开发人员根据经验预先设定，例如，设定为1m，则表示无人机距离作业对象最顶端1m时得到最佳的喷洒效果。
需要说明的是，每个作业对象的喷洒幅高可以相同，也可以根据作业对象的生长属性和生长环境分别设定，本发明实施例对此不作限定。
例如，如图2的作业对象喷洒高度示意图所示，假设获取到某棵树的海拔高度H、物理高度h1，以及设定喷洒幅高h，则安全高度可以设置为大于或等于H+h1+h。
在实际中，如果无人机有对地高度测量装置的情况下，由于树高很难精确测量，则可以将安全高度设置为大于H+h1+h。
其中，对地高度测量装置指的是探测无人机离无人机下方物体的距离的传感器，可以包括超声波雷达、无线电雷达、TOF(Time of Flight，飞行时间传感器)、激光雷达等。
地理位置信息可以为作业对象的中心点经纬度，例如，若作业对象为果树，则作业对象的中心点可以是树主干或是树垂直投影面下的外接圆的圆心；喷洒半径可以是最外层树叶离树主干的距离或上述外接圆的半径，在喷洒作业时，喷洒半径内都需喷洒到位。
在实际中，若无人机获取的是作业对象列表，该作业对象列表在展现时，其作业对象可以按照对应的地理位置信息进行管理，并排列编号，同时把作业对象的编号放到该次作业任务的垂直投影地图上，操作人员可以根据需要选定当前需要作业的作业对象。
其中，作业对象的编号可以按照测绘的顺序编号，或者按照某一方向如指北方向进行扫描排列，如果是山坡上植保，可以按由低往高一层层排列。
在具体实现中，无人机可以通过数据链路从地面站中获取作业对象的测绘信息，而地面站中的测绘信息可以通过测绘仪或航测测量得到。例如，操作人员可以通过测绘仪对果园里的每棵需要施药的果树进行精确测绘，得到对应的测绘信息以后，先将 测绘信息传到服务器，服务器再通过网络将测绘信息传给手持地面站，再由地面站传给无人机的飞行控制器。
步骤102，将无人机的飞行高度调整至所述安全高度，并按照所述安全高度飞往所述地理位置信息所对应的位置；
当无人机获取作业对象的测绘信息以后，可以从该测绘信息中确定当前待作业的作业对象的安全高度，当无人机启动时，可以将无人机的飞行高度调整至上述安全高度，并以该安全高度按照设定的飞行速度飞行至该作业对象的地理位置信息所指示的位置中。
在具体实现中，若无人机获取的是作业对象列表，则可以将作业对象列表中编号最前的作业对象作为当前待作业的作业对象，随后，依次飞往每一作业对象进行作业。
需要说明的是，无人机启动时，还可以通过无人机中的高精度GPS测绘器自动记录下无人机起飞时的起点位置(如起飞点的经纬度)以及该起点位置对应的绝对海拔高度。
步骤103，在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业。
当无人机到达当前作业对象的地理位置信息所对应的位置时，在执行步骤103以前，本发明实施例还可以包括如下步骤：
若所述无人机安装有对地高度测量装置，则在所述地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
具体的，当无人机到达当前作业对象的地理位置信息所对应的位置时，在执行步骤103以前，可以首先确定喷洒高度。如果无人机安装有对地高度测量装置，则喷洒高度可以为当前作业对象的海拔高度、物理高度、以及预设的喷洒幅高之和对应的高度。此时，若无人机的安全高度大于该喷洒高度，则可以将无人机的飞行高度下降至该喷洒高度。
相应的，如果无人机安装没有对地高度测量装置，则可以直接将该安全高度作为喷洒高度。
当确定喷洒高度以后，可以在当前作业对象的地理位置信息所对应的位置中，基 于该喷洒高度，按照上述测量的喷洒半径，对当前作业对象进行螺旋喷洒作业。
在本发明实施例的一种优选实施例中，步骤103可以包括如下子步骤：
子步骤S11，确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于所述喷洒半径；
子步骤S12，以所述作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
具体的，参考图3所示的螺旋喷洒轨迹示意图，在进行螺旋喷洒作业时，无人机可以按照阿基米德螺旋线的飞行路径飞行。阿基米德螺线(亦称等速螺线)，是一个点匀速离开一个固定点的同时又以固定的角速度绕该固定点转动而产生的轨迹。
在螺旋飞行前，可以首先确定螺旋喷洒作业所需的作业参数。作为一种示例，该作业参数可以包括但不限于：初始盘旋半径r、盘旋圈数n、螺距d、螺旋角速率、旋转角速率、盘旋速度、当前作业对象的喷洒半径R等。
初始盘旋半径r可以根据无人机的机型、机身大小、喷头位置和/或实际实验数据设定，例如，若无人机是四旋翼机型，宽度为1.5m，则r可以设定为0.75m左右。
盘旋圈数n及盘旋速度可以根据当前作业对象的实际喷洒药量设定，例如，某棵树需喷1L农药，转一圈喷0.3L农药，则盘旋圈数可以为3圈。
螺距d即每转一圈半径扩大的相同距离，螺距d＝(R-r)/n。
螺旋角速率指的是无人机中心绕作业对象的中心做盘旋的角速率，例如，盘旋一周需要5秒，则螺旋角速率为360/5＝75度每秒，这个值可以是人为提前设定好的或是飞控固定设定的值。
旋转角速率是飞机相对自身中心旋转的角速度，其值都是飞控可控制的，控制的效果例如可以为盘旋过程中机头或某机臂始终指向螺旋中心。
需要说明的是，在图3的由内而外的螺线中，初始盘旋半径r小于喷洒半径R。
在图3中，以所述作业对象的地理位置信息作为螺旋中心，从中心到外圈由内而外以初始盘旋半径开始环绕飞行，盘旋半径越来越大，而且保持每转一圈半径扩大相同的螺距，直到无人机盘旋半径大于设定的作业圆半径R则喷洒完毕。
在进行螺旋作业过程中，可以同时对机身进行旋转，旋转角速率和螺旋角速率一 致，这样可使机头指向和无人机中心相对螺旋中心的方向呈固定的角度。
需要说明的是，本发明实施例并不限于上述由内而外的螺旋线，该螺旋线也可以是由外向内螺旋，即初始盘旋半径等于喷洒半径，盘旋半径越来越小。
在实际中，当喷洒半径R小于飞机喷洒范围时，飞机原地旋转喷洒即可，而无需按照阿基米德螺旋线的飞行路径飞行。
在本发明实施例的一种优选实施例中，如果作业对象有多个，当当前作业对象作业完毕以后，本发明实施例还可以包括如下步骤：
读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行螺旋喷洒作业；若否，则按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行螺旋喷洒作业。
具体的，由于每个作业对象的物理高度不一致，在当前作业对象作业完毕以后，可以读取排列在当前作业对象之后的下一作业对象的测绘信息，从该测绘信息中提取该下一作业对象的安全高度，并判断该下一作业对象的安全高度是否大于当前作业对象的安全高度，如果是，则在当前作业对象的位置中将无人机的飞行高度爬高下一作业对象的安全高度(如果有对地高度测量装置的情况，先爬升到当前作业对象的安全高度，然后由该当前作业对象的安全高度爬高到下一作业对象的安全高度)，并驱使无人机按照调整后的安全高度飞往该下一作业对象的地理位置信息所对应的位置，并在该下一作业对象的地理位置信息所对应的位置中，参照上述步骤103中所描述的方法，基于该下一作业对象的喷洒半径，对该下一个作业对象进行螺旋喷洒作业。
例如，在图2中，左边的树比中间的树的安全高度低，当左边的树喷洒作业完毕以后，无人机可以首先在左边的树的位置上将安全高度爬高到中间的树的安全高度， 然后按照中间的树的安全高度飞到中间的树的位置，若无人机安装有对地高度测量装置，则在中间的树的位置中将无人机的高度下降到中间的树的喷洒高度，然后基于喷洒高度给中间的树进行螺旋喷洒作业。
相应的，若下一作业对象的安全高度小于当前作业对象的安全高度，则可以按照当前作业对象对应的安全高度飞往该下一作业对象的地理位置信息所对应的位置，在到达该下一作业对象的地理位置信息所对应的位置时，可以将所述安全高度调整为下一作业对象的安全高度或喷洒高度，然后参照上述步骤103中所描述的方法，基于该下一作业对象的喷洒半径，对该下一个作业对象进行螺旋喷洒作业。
例如，在图2中，右边的树比中间的树的安全高度低，当中间的树喷洒作业完毕以后，无人机可以按照中间的树的安全高度飞到右边的树的位置，然后在右边的树的位置上将安全高度降低到右边的树的安全高度(没有对地高度测量装置时)或右边的树的喷洒高度(有对地高度测量装置时)，然后基于喷洒高度给右边的树进行螺旋喷洒作业。
在本发明实施例的一种优选实施例中，当当架次无人机的作业任务执行完毕以后，本发明实施例还可以包括如下步骤：
获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；当所述无人机的当架次作业执行完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
具体的，当当前无人机执行完当架次的所有作业任务以后，无人机可以首先获取起飞时记录的起点位置以及该起点位置对应的绝对海拔高度，并根据该起点位置对应的绝对海拔高度以及预设海拔距离之和，确定返航高度。
其中，预设海拔距离用于保证无人机可以安全返航而不会撞上障碍物，该距离可以由操作人员或开发人员根据实际情况设定，例如，可以设定为5m，或者，当无人机的起飞点在作业地块的最高处时，则预设海拔距离可以设定为3m。
确定了返航高度以后，无人机可以爬升至返航高度，并按照该返航高度飞行至起点位置，当到达起点位置时，无人机在起点位置降落。
本发明实施例可以应用作物生长地形地貌不平坦、不空旷，并且作物之间的物理高度以及物理宽度不一致等作业环境复杂的无人机植保作业中，通过提前测绘好每个作物的地理信息及生长情况，无人机自主飞行到每个作业中进行螺旋飞行，飞行曲线连续，对每个作物进行覆盖性地喷洒，并根据螺旋状态精确控制药量，可以达到精准喷洒的效果。
同时，本发明实施例无需人工全程参与，节省了人力成本，提高了喷洒效率，并减少了因人力喷洒导致的失误的概率、漏喷、重喷概率。
参照图4，示出了本发明的一种无人机作业的方法实施例二的步骤流程图，具体可以包括如下步骤：
步骤201，获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
本发明实施例可以应用于不平坦和/或不空旷地面的植保作业，则本发明实施例中的作业对象至少可以具有如下属性：作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
作为一种示例，该作业对象可以包括但不限于果树类型的作物。
果树类型的作物可以生长在不同的地形地貌下，并且树与树之间的物理高度(地表高度到树的最顶端之间的距离)和物理宽度(树垂直投影面下的外接圆的直径或最外层树叶之间的宽度)的差异都比较大。
在具体实现中，作业对象列表中可以包括多个作业对象的测绘信息。
作为本发明实施例的一种优选示例，测绘信息可以包括但不限于：作业对象的海拔高度、物理高度、物理宽度、安全高度、地理位置信息以及喷洒半径等。
具体的，安全高度是指无人机安全无障碍飞行的飞行高度。该安全高度的数值可以大于或等于作业对象的海拔高度、物理高度、以及预设的喷洒幅高之和。
具体的，作业对象的海拔高度以及物理高度是根据测量得到的。
喷洒幅高指的是无人机喷洒的最佳对树顶的高度，即无人机距离作业对象最顶端高h米时喷洒达到最佳效果的高度，该值可以通过操作人员或开发人员根据经验预先 设定，例如，设定为1m，则表示无人机距离作业对象最顶端1m时得到最佳的喷洒效果。
需要说明的是，每个作业对象的喷洒幅高可以相同，也可以根据作业对象的生长属性和生长环境分别设定，本发明实施例对此不作限定。
例如，如图2的作业对象喷洒高度示意图所示，假设获取到某棵树的海拔高度H、物理高度h1，以及设定喷洒幅高h，则安全高度可以设置为大于或等于H+h1+h。
在实际中，如果无人机有对地高度测量装置的情况下，由于树高很难精确测量，则可以将安全高度设置为大于H+h1+h。
地理位置信息可以为作业对象的中心点经纬度，例如，若作业对象为果树，则作业对象的中心点可以是树主干或是树垂直投影面下的外接圆的圆心；喷洒半径可以是最外层树叶离树主干的距离或上述外接圆的半径，在喷洒作业时，喷洒半径内都需喷洒到位。
在实际中，该作业对象列表在展现时，其作业对象可以按照对应的地理位置信息进行管理，并排列编号，同时把作业对象的编号放到该次作业任务的垂直投影地图上，操作人员可以根据需要选定当前需要作业的作业对象。
其中，作业对象的编号可以按照测绘的顺序编号，或者按照某一方向如指北方向进行扫描排列，如果是山坡上植保，可以按由低往高一层层排列。
在具体实现中，无人机可以通过数据链路从地面站中获取作业对象列表，而地面站中的测绘信息可以通过测绘仪或航测测量得到。例如，操作人员可以通过测绘仪对果园里的每棵需要施药的果树进行精确测绘，得到对应的测绘信息以后，先将测绘信息传到服务器，服务器再通过网络将测绘信息传给手持地面站，再由地面站传给无人机的飞行控制器。
步骤202，获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
当无人机获取作业对象列表以后，可以将作业对象列表中编号最前的作业对象作为当前待作业的作业对象，随后，依次飞往每一作业对象进行作业。
或者，无人机还可以获取操作人员从作业对象列表中选定的作业对象，作为当前作业对象，本发明实施例对此不作限制。
需要说明的是，无人机启动时，还可以通过无人机中的高精度GPS测绘器自动记录下无人机起飞时的起点位置(如起飞点的经纬度)以及该起点位置对应的绝对海拔高度。
步骤203，将无人机的飞行高度调整至当前作业对象的安全高度，并按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
当无人机获取当前作业对象的测绘信息以后，可以从该测绘信息中确定当前作业对象的安全高度，当无人机启动时，可以将无人机的飞行高度调整至上述安全高度，并以该安全高度按照设定的飞行速度飞行至当前作业对象的地理位置信息所指示的位置中。
步骤204，在当前作业对象的地理位置信息所对应的位置中，基于当前作业对象的喷洒半径，对当前作业对象进行喷洒作业；
当无人机到达当前作业对象的地理位置信息所对应的位置时，如果当前作业对象的安全高度大于当前作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，在执行步骤204以前，本发明实施例还可以包括如下步骤：
若所述作业对象安装有对地高度测量装置，则在对所述作业对象进行喷洒作业以前，在所述作业对象的地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
具体的，当无人机到达当前作业对象的地理位置信息所对应的位置时，在执行步骤204以前，可以首先确定喷洒高度。如果无人机安装有对地高度测量装置，则喷洒高度可以为当前作业对象的海拔高度、物理高度、以及预设的喷洒幅高之和对应的高度。此时，若无人机的安全高度大于该喷洒高度，则可以将无人机的飞行高度下降至该喷洒高度。
相应的，如果无人机安装没有对地高度测量装置，则可以直接将该安全高度作为喷洒高度。
当确定喷洒高度以后，可以在当前作业对象的地理位置信息所对应的位置中，基于该喷洒高度，对当前作业对象进行喷洒作业。
在本发明实施例的一种优选实施例中，所述喷洒作业包括螺旋喷洒作业，螺旋喷 洒作业是指无人机可以按照阿基米德螺旋线的飞行路径进行作业喷洒。
在本发明实施例的一种优选实施例中，步骤204可以包括如下子步骤：
子步骤S21，确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
子步骤S22，以待作业的作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
在螺旋飞行前，可以首先确定螺旋喷洒作业所需的作业参数。作为一种示例，该作业参数可以包括但不限于：初始盘旋半径r、盘旋圈数n、螺距d、螺旋角速率、旋转角速率、盘旋速度、当前作业对象的喷洒半径R等。
初始盘旋半径r可以根据无人机的机型、机身大小、喷头位置和/或实际实验数据设定，例如，若无人机是四旋翼机型，宽度为1.5m，则r可以设定为0.75m左右。
盘旋圈数n及盘旋速度可以根据当前作业对象的实际喷洒药量设定，例如，某棵树需喷1L农药，转一圈喷0.3L农药，则盘旋圈数可以为3圈。
螺距d即每转一圈半径扩大的相同距离，螺距d＝(R-r)/n。
螺旋角速率指的是无人机中心绕作业对象的中心做盘旋的角速率，例如，盘旋一周需要5秒，则螺旋角速率为360/5＝75度每秒，这个值可以是人为提前设定好的或是飞控固定设定的值。
旋转角速率是飞机相对自身中心旋转的角速度，其值都是飞控可控制的，控制的效果例如可以为盘旋过程中机头或某机臂始终指向螺旋中心。
需要说明的是，在图3的由内而外的螺线中，初始盘旋半径r小于喷洒半径R。
在图3中，以所述作业对象的地理位置信息作为螺旋中心，从中心到外圈由内而外以初始盘旋半径开始环绕飞行，盘旋半径越来越大，而且保持每转一圈半径扩大相同的螺距，直到无人机盘旋半径大于设定的作业圆半径R则喷洒完毕。
在进行螺旋作业过程中，可以同时对机身进行旋转，旋转角速率和螺旋角速率一致，这样可使机头指向和无人机中心相对螺旋中心的方向呈固定的角度。
需要说明的是，本发明实施例并不限于上述由内而外的螺旋线，该螺旋线也可以是由外向内螺旋，即无人机盘旋半径等于设定的作业圆半径R，盘旋半径越来越小。
在实际中，当喷洒半径R小于飞机喷洒范围时，飞机原地旋转喷洒即可，而无需按照阿基米德螺旋线的飞行路径飞行。
步骤205，当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则执行步骤206；若否，则执行步骤207。
步骤206，在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
步骤207，按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
由于每个作业对象的物理高度不一致，在当前作业对象作业完毕以后，可以读取排列在当前作业对象之后的下一作业对象的测绘信息，从该测绘信息中提取该下一作业对象的安全高度，并判断该下一作业对象的安全高度是否大于当前作业对象的安全高度，如果是，则在当前作业对象的位置中将无人机的飞行高度爬高下一作业对象的安全高度(如果有对地高度测量装置的情况，先爬升到当前作业对象的安全高度，然后由该当前作业对象的安全高度爬高到下一作业对象的安全高度)，并驱使无人机按照调整后的安全高度飞往该下一作业对象的地理位置信息所对应的位置，并在该下一作业对象的地理位置信息所对应的位置中，参照上述步骤204中所描述的方法，基于该下一作业对象的喷洒半径，对该下一个作业对象进行螺旋喷洒作业。
若下一作业对象的安全高度小于当前作业对象的安全高度，则可以按照当前作业对象对应的安全高度飞往该下一作业对象的地理位置信息所对应的位置，在到达该下一作业对象的地理位置信息所对应的位置时，可以将所述安全高度调整为下一作业对象的安全高度或喷洒高度，然后参照上述步骤204中所描述的方法，基于该下一作业 对象的喷洒半径，对该下一个作业对象进行螺旋喷洒作业。
在本发明实施例的一种优选实施例中，当当架次无人机的作业任务执行完毕以后，本发明实施例还可以包括如下步骤：
获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；当所述作业对象列表中的作业对象都作业完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
本发明实施例可以应用作物生长地形地貌不平坦、不空旷，并且作物之间的物理高度以及物理宽度不一致等作业环境复杂的无人机植保作业中，通过提前测绘好每个作物的地理信息及生长情况，无人机可以自主调整每个作物的安全高度，依次对每个作物进行作业喷洒，无需人工全程参与，节省了人力成本，提高了喷洒效率，并减少了因人力喷洒导致的失误的概率、漏喷、重喷概率。
需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。
参照图5，示出了本发明的一种无人机作业的装置实施例一的结构框图，可以包括如下模块：
测绘信息获取模块301，设置为获取待作业的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
第一安全高度调整模块302，设置为将无人机的飞行高度调整至所述安全高度；
第一飞行模块303，设置为按照所述安全高度飞往所述地理位置信息所对应的位置；
螺旋喷洒模块304，设置为在所述地理位置信息所对应的位置中，基于所述喷洒 半径，对所述作业对象进行螺旋喷洒作业。
在本发明实施例的一种优选实施例中，所述作业对象有多个，所述装置还可以包括：
高度判断模块，设置为当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则调用第三高度调整模块，若否，则调用第四高度调整模块；
第三高度调整模块，设置为在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并调用第一飞行模块按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，调用螺旋喷洒模块基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行螺旋喷洒作业；
第四高度调整模块，设置为按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，调用螺旋喷洒模块基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行螺旋喷洒作业。
在本发明实施例的一种优选实施例中，所述装置还包括：
第一起点信息获取模块，设置为获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
第一返航高度调整模块，设置为当所述无人机的当架次作业执行完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
第一返航模块，设置为按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
在本发明实施例的一种优选实施例中，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
在本发明实施例的一种优选实施例中，当所述安全高度大于所述作业对象的海拔 高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，所述装置还包括：
第一高度降低模块，设置为若所述无人机安装有对地高度测量装置，则在所述地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
在本发明实施例的一种优选实施例中，所述螺旋喷洒模块304包括如下子模块：
第一作业参数确定子模块，设置为确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
第一螺旋飞行子模块，设置为以所述作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
在本发明实施例的一种优选实施例中，所述作业对象至少具有如下属性：
作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
对于图5的方法实施例而言，由于其与图1的方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
参照图6，示出了本发明的一种无人机作业的装置实施例二的结构框图，可以包括如下模块：
作业对象列表获取模块401，设置为获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
测绘信息读取模块402，设置为获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
第二安全高度调整模块403，设置为将无人机的飞行高度调整至当前作业对象的安全高度；
第二飞行模块404，设置为按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
喷洒模块405，设置为在当前作业对象的地理位置信息所对应的位置中，基于当前作业对象的喷洒半径，对当前作业对象进行喷洒作业；
判断模块406，当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则调用第一高度调整模块，若否，则调用第二高度调整模块；
第一高度调整模块407，设置为在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并调用第二飞行模块按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，以及，在所述下一作业对象的地理位置信息所对应的位置中，调用喷洒模块基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
第二高度调整模块408，设置为按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，调用喷洒模块基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
在本发明实施例的一种优选实施例中，所述装置还包括：
第二起点信息获取模块，设置为获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
第二返航高度调整模块，设置为当所述作业对象列表中的作业对象都作业完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
第二返航模块，设置为按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
在本发明实施例的一种优选实施例中，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
在本发明实施例的一种优选实施例中，当某个作业对象的安全高度大于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，所述装置 还包括：
第二高度降低模块，设置为若所述作业对象安装有对地高度测量装置，则在对所述作业对象进行喷洒作业以前，在所述作业对象的地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
在本发明实施例的一种优选实施例中，所述喷洒作业包括螺旋喷洒作业，调用如下模块进行螺旋喷洒作业：
第二作业参数确定子模块，设置为确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
第二螺旋飞行子模块，设置为以待作业的作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
在本发明实施例的一种优选实施例中，所述作业对象至少具有如下属性：
作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
对于图6的方法实施例而言，由于其与图4的方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本发明实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明实施例是参照根据本发明实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或 方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本发明所提供的一种无人机作业的方法及装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (15)

  1. 一种无人机作业的方法，所述方法包括：
    获取待作业的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
    将无人机的飞行高度调整至所述安全高度，并按照所述安全高度飞往所述地理位置信息所对应的位置；
    在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业。
  2. 根据权利要求1所述的方法，其中，所述作业对象有多个，所述方法还包括：
    当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；
    若是，则在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行螺旋喷洒作业；
    若否，则按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行螺旋喷洒作业。
  3. 根据权利要求2所述的方法，其中，还包括：
    获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
    当所述无人机的当架次作业执行完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
    按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
  4. 根据权利要求1所述的方法，其中，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
  5. 根据权利要求4所述的方法，其中，当所述安全高度大于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业的步骤之前，还包括：
    若所述无人机安装有对地高度测量装置，则在所述地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
  6. 根据权利要求1-5任一项所述的方法，其中，所述在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业的步骤包括：
    确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
    以所述作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
  7. 根据权利要求1-5任一项所述的方法，其中，所述作业对象至少具有如下属性：
    作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
  8. 一种无人机作业的方法，所述方法包括：
    获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
    获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
    将无人机的飞行高度调整至当前作业对象的安全高度，并按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
    在当前作业对象的地理位置信息所对应的位置中，基于当前作业对象的喷洒半径，对当前作业对象进行喷洒作业；
    当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作 业对象的安全高度是否大于当前作业对象的安全高度；
    若是，则在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在所述下一作业对象的地理位置信息所对应的位置中，基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
    若否，则按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
  9. 根据权利要求8所述的方法，其中，还包括：
    获取无人机起飞时的起点位置以及所述起点位置对应的绝对海拔高度；
    当所述作业对象列表中的作业对象都作业完毕以后，将所述无人机的飞行高度调整到返航高度，所述返航高度为所述无人机的绝对海拔高度增加预设海拔距离后得到；
    按照所述返航高度飞行至所述起点位置，并在所述起点位置降落。
  10. 根据权利要求8所述的方法，其中，所述测绘信息还包括所述作业对象的海拔高度、物理高度；所述安全高度大于或等于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和。
  11. 根据权利要求10所述的方法，其中，当某个作业对象的安全高度大于所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和时，所述方法还包括：
    若所述作业对象安装有对地高度测量装置，则在对所述作业对象进行喷洒作业以前，在所述作业对象的地理位置信息所对应的位置中，将所述无人机的飞行高度下降至所述作业对象的海拔高度、所述作业对象的物理高度、以及预设的喷洒幅高之和对应的高度。
  12. 根据权利要求8-11任一项所述方法，其中，所述喷洒作业包括螺旋喷洒作业，所述螺旋喷洒作业包括如下步骤：
    确定螺旋喷洒作业所需的作业参数，所述作业参数包括初始盘旋半径、盘旋圈数、螺距、螺旋角速率，其中，所述初始盘旋半径小于或等于所述喷洒半径；
    以待作业的作业对象的地理位置信息作为螺旋中心，以所述初始盘旋半径开始环绕飞行，每圈增加对应的螺距，直到满足所述盘旋圈数和/或到达所述喷洒半径则完成所述作业对象的作业，在飞行过程中，按照所述螺旋角速率对机身进行旋转。
  13. 根据权利要求8-11任一项所述的方法，其中，所述作业对象至少具有如下属性：
    作业对象之间的物理高度或正投影下的外接圆的直径的差值大于或等于预设阈值。
  14. 一种无人机作业的装置，所述装置包括：
    测绘信息获取模块，设置为获取待作业的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
    第一安全高度调整模块，设置为将无人机的飞行高度调整至所述安全高度；
    第一飞行模块，设置为按照所述安全高度飞往所述地理位置信息所对应的位置；
    螺旋喷洒模块，设置为在所述地理位置信息所对应的位置中，基于所述喷洒半径，对所述作业对象进行螺旋喷洒作业。
  15. 一种无人机作业的装置，所述装置包括：
    作业对象列表获取模块，设置为获取待作业的作业对象列表，所述作业对象列表包括顺次排列的一个以上的作业对象的测绘信息，所述测绘信息包括所述作业对象的安全高度、地理位置信息以及喷洒半径；
    测绘信息读取模块，设置为获取从所述作业对象列表中选定的一作业对象，作为当前作业对象，读取当前作业对象的测绘信息；
    第二安全高度调整模块，设置为将无人机的飞行高度调整至当前作业对象的安全高度；
    第二飞行模块，设置为按照所述安全高度飞往所述当前作业对象的地理位置信息所对应的位置；
    喷洒模块，用于在当前作业对象的地理位置信息所对应的位置中，基于当前 作业对象的喷洒半径，对当前作业对象进行喷洒作业；
    判断模块，当当前作业对象作业完毕以后，读取下一作业对象的测绘信息，判断下一作业对象的安全高度是否大于当前作业对象的安全高度；若是，则调用第一高度调整模块，若否，则调用第二高度调整模块；
    第一高度调整模块，设置为在当前作业对象的位置中将所述无人机的飞行高度调整为所述下一作业对象的安全高度，并调用第二飞行模块按照调整后的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，以及，在所述下一作业对象的地理位置信息所对应的位置中，调用喷洒模块基于所述下一作业对象的喷洒半径，对所述下一个作业对象进行喷洒作业；
    第二高度调整模块，设置为按照当前作业对象对应的安全高度飞往所述下一作业对象的地理位置信息所对应的位置，在到达所述下一作业对象的地理位置信息所对应的位置时，将所述安全高度调整为所述下一作业对象的安全高度，以及，调用喷洒模块基于调整后的安全高度，按照所述下一作业对象的喷洒半径对所述下一个作业对象进行喷洒作业。
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CN108205326A (zh) 2018-06-26
CN110554711B (zh) 2022-03-18
EP3557362B1 (en) 2021-12-08
KR102229095B1 (ko) 2021-03-18
EP3557362A1 (en) 2019-10-23
CA3047179A1 (en) 2018-06-21
CN108205326B (zh) 2019-11-26
US20190362640A1 (en) 2019-11-28
AU2017376716A1 (en) 2019-07-04
RU2728929C1 (ru) 2020-08-04
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US11144059B2 (en) 2021-10-12
JP7018060B2 (ja) 2022-02-09
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CN110554711A (zh) 2019-12-10
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