WO2020118500A1

WO2020118500A1 - Control method, control system, computer readable storage medium, and flyable device

Info

Publication number: WO2020118500A1
Application number: PCT/CN2018/120196
Authority: WO
Inventors: 贾向华; 辛昆鹏; 闫光
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-12-11
Filing date: 2018-12-11
Publication date: 2020-06-18
Also published as: CN111279399B; CN111279399A

Abstract

A control method for a flyable device, comprising: acquiring the state of a flyable device; determining that the flyable device is in a state of preparing for take off; acquiring a job information limit of the flyable device; determining whether the job information limit meets a preset value; and if the limit does not meet the preset value, forbidding the flyable device from taking off. The described method improves the job reliability of a flyable device, and increases the operating revenue of the flyable device. Further disclosed are a control system of flyable device, a computer readable storage medium, and a flyable device.

Description

Control method, control system, computer readable storage medium and flightable equipment

Technical field

The present disclosure relates to the field of control technology, and in particular, to a control method, a control system, a computer-readable storage medium, and a flightable device.

Background technique

With the development of flight technology, flightable equipment, such as UAV (Unmanned Aerial), is widely used in the military field and more and more civilian fields, such as UAV plant maintenance and cultivation, UAV aerial photography, UAV forest fire monitoring.

In the related art, the unit price of purchasing the flightable equipment is expensive, and its maintenance cost is high, which is very unfavorable to the popularization and application of the flightable equipment, and cannot guarantee the effect of the flightable equipment performing the flight operation.

Summary of the invention

The embodiments of the present disclosure aim to provide a control method, a control system, a flightable device, and a computer-readable storage medium to reduce the use cost of the flightable device, and at the same time, help to improve the effect of the flightable device performing flight operations and reliability.

In order to achieve the above object, the technical solution of the first aspect of the present disclosure improves a control method, including: acquiring the current state of a flightable device, the state including a ready-to-take-off state and an in-flight state; determining the flightable device The current state of is ready to take off; obtain the current remaining operational information quota of the flightable device, the operational information quota is determined according to the user's recharge amount; determine whether the operational information quota meets the preset value; if not, Then the flightable device is prohibited from taking off.

The technical solution of the second aspect of the present disclosure provides a control system, a flight controller, for acquiring the current state of the flightable device, the state including a ready-to-take-off state and an in-flight state; determining the current state of the flightable device as Prepare for take-off status; obtain the current operational information quota of the flightable equipment, which is determined according to the user's recharge amount; the memory, establish communication with the flight controller, and store the operational information quota of the flightable equipment; The power system establishes communication with the flight controller to provide the flight power of the flightable equipment; wherein, when the flight controller determines that the current remaining operational information quota does not meet the preset value, the power system is prohibited Start to prohibit the flightable device from taking off.

The technical solution of the third aspect of the present disclosure provides a computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed, the steps of the control method as provided in the first aspect of the embodiments of the present disclosure are implemented .

A technical solution of the fourth aspect of the present disclosure provides a flightable device, including: a hardware device configured to realize movement, flight, image acquisition, and sprinkling irrigation of the flightable device; according to any one of the above technical solutions A defined control system configured to control the hardware device to execute the received instructions.

Based on the control method, control system, flightable device, and computer-readable storage medium provided by the embodiments of the present disclosure, the current remaining operations of the flightable device are obtained by determining the current state of the flightable device as the ready-to-take-off state The information quota provides a rechargeable use plan for flightable equipment. It does not require users to purchase flightable equipment, so they can rent flightable equipment through recharge. At the same time, it also reduces the user's maintenance cost of flightable equipment. In addition, When the recharge amount is insufficient, prompt the user in time to meet the user's needs as much as possible, so that the flightable equipment can complete the task in a more timely manner.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present disclosure, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present disclosure For those of ordinary skill in the art, without paying creative labor, other drawings can be obtained based on these drawings.

FIG. 1 shows a schematic diagram of a flightable equipment system according to an embodiment of the present disclosure;

2 shows a schematic diagram of a control method according to an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of a control method of another embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure.

detailed description

The technical solutions in the embodiments of the present disclosure will be described clearly below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present disclosure.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there can be centered components at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present disclosure. The terminology used in the specification of the present disclosure herein is for the purpose of describing specific embodiments only, and is not intended to limit the present disclosure. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The following describes some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

As shown in FIG. 1, the flightable equipment system 10 may include a control terminal 110 and a flightable equipment 120. The flightable device 120 may be a single-rotor or multi-rotor flightable device. In some cases, the flightable device 120 may be a fixed-wing flightable device.

The flightable device 120 may include a transmission device 102, a control system 104, a gimbal 106, a power supply system 108, and a fuselage. When the flightable device 120 is specifically a multi-rotor flightable device, the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The flightable device may further include a tripod, wherein the tripod is connected to the fuselage for supporting the landing of the flightable device.

(1) Under the control of the flight controller 1042, the transmission device 102 may send the data collected by the power system 1046 and/or the image collection device 1064 to the control terminal 110. The control terminal 110 may include a transmission device (not shown). The transmission device of the control terminal may establish a wireless communication connection with the transmission device 102 of the flightable device 120. The transmission device of the control terminal may receive data sent by the transmission device 102. In addition, control The terminal 110 may also send control instructions to the flightable device 120 through the transmission device configured by itself.

The control terminal 110 may include a controller 1102 and a display device 1104. The controller 1102 can control various operations of the control terminal. For example, the controller 1102 can control the transmission device to receive data sent by the flightable device 120 through the transmission device 102, and for another example, the controller 1102 can control the display device 1104 to display the transmitted data, where the data can include the environment captured by the image acquisition device 1064 Image, posture information, position information, power information, etc.

(2) The control system 104 may include a flight controller 1042, a memory 1044, a power system 1046, a sensor 1048, and a timer 10410.

The control system 104 includes one or more types of sensors 1048, wherein the sensors 1048 can output and transmit sensor data to measure the status data of the flightable device 120. Among them, the most important component of the sensor 1048 is a position sensor. The position sensor includes at least one of a gyroscope, a positioning antenna, an electronic compass, and an inertial measurement unit. For example, it may include an ultrasonic sensor, a visual sensor (monocular sensor or binocular sensor) ), at least one of sensors such as environmental sensors and barometers.

Wherein, the positioning antenna can calculate the heading information of the flightable device 120 based on the Global Positioning System (Global Positioning System, GPS).

The flight controller 1042 is used to control various operations of the flightable equipment. For example, the flight controller 1042 can control the movement of the flightable device, and for another example, the flight controller 1042 can control the power system 1046 of the flightable device to collect data.

Specifically, the power system 1046 may include one or more power components used to provide flight power to the flightable device 120, which enables the flightable device 120 to realize one or more degrees of freedom of movement.

(3) In some embodiments, the flightable device 120 further includes a gimbal 106. The gimbal 106 may include a motor 1062. The gimbal 106 is used to carry the image acquisition device 1064. The flight controller 1042 may control the gimbal 106 through the motor. movement. It should be understood that the gimbal 106 may be independent of the flightable device 120 or may be a part of the flightable device 120. In some embodiments, the image acquisition device 1064 may be fixedly connected to the fuselage of the flightable device 120.

In many embodiments, the gimbal 106 may include an image acquisition device 1064. The image acquisition device 1064 may be a device such as a camera or a video camera for capturing images. The image acquisition device 1064 may communicate with the flight controller 1042 and control the flight Shooting under the control of the device 1042.

(4) The flightable device 120 further includes a power supply system 108. The power supply system 108 may include a battery 1082 and a BMS (Battery Management System, battery management system) 1084. By default, the battery 1082 is used to supply power to the flightable device 120, for example, the power system 1046. , Transmission equipment 102, gimbal 106, image acquisition device 1064 and other hardware electronic devices to provide power.

It can be understood that any of the above controllers may include one or more processors, where the one or more processors may work individually or cooperatively.

It should be understood that the above naming of the components of the flightable device 120 is for identification purposes only, and should not be construed as limiting the embodiments of the present disclosure.

With reference to FIGS. 1, 2 and 3, the control method of the above-mentioned flightable device specifically includes the following embodiments.

As shown in FIG. 2, the control method according to an embodiment of the present disclosure specifically includes:

In step S202, the current state of the flightable device is obtained, and the state includes a ready-to-take-off state and an in-flight state.

Step S204, it is determined that the current state of the flightable device is a ready-to-take-off state.

Specifically, by obtaining the current state of the flightable device, the flight control is performed separately for the ready-to-take-off state and the in-flight state, especially in the ready-to-take-off state, it is possible to predict whether the operation information quota meets a preset value, on the one hand, it can meet The user's use requirements, on the other hand, can ensure that the flightable equipment performs flight operations more reliably.

Step S206: Obtain the current remaining operation information quota of the flightable device, and the operation information quota is determined according to the user's recharge amount.

Specifically, by obtaining the current remaining operational information quota of the flightable device, due to the correspondence between the recharge amount and the operational information quota, it can be indirectly determined whether the recharge amount can meet the needs of the flight operation, and promptly prompt the user Recharge, so that the recharge amount can ensure that the flight equipment can complete the flight operation.

Among them, the limitation of the recharge amount provides a method for renting the flightable equipment, which does not require the user to purchase the flightable equipment at a high unit price, and reduces the maintenance cost of the flightless equipment.

In step S208, it is determined whether the quota of job information satisfies a preset value.

In step S210, if not satisfied, the flightable device is prohibited from taking off.

Step S212, if satisfied, allow the flightable device to take off.

Specifically, by judging whether the operation information quota satisfies the preset value, and when it is not satisfied, the flightable device is prohibited from taking off, and at the same time, prompting the user in time to ensure that the recharge amount can meet the needs of the flight operation, thereby ensuring the availability The effect of flight equipment performing flight operations.

In particular, in the ready-to-take-off state, if it is detected that the operational information quota of the flightable device does not meet the preset value, before the next recharge amount is updated, it can be determined based on the remaining power of the flightable device whether the detection does not meet the preset value Operation information quota to reduce power consumption of flightable equipment.

In some embodiments, obtaining the current state of the flightable device includes the following steps: obtaining the operating parameters of the power system of the flightable device, the operation parameters corresponding to the ready-to-take-off state or the in-flight state, The power system includes a motor assembly and/or a propeller assembly.

Specifically, an operating parameter of a power system of the flightable device is obtained, the operating parameter corresponding to the ready-to-take-off state or the in-flight state, the power system includes a motor assembly and/or a propeller assembly, wherein the power The system is configured to support the flying equipment to complete the operations of flying, moving, sprinkling and irrigation. Among them, the motor component includes the motor, motor drive circuit and hardware connection, and the propeller component is mainly configured to support the flying and steering of the flying equipment, that is, in When the propeller assembly and the motor assembly work simultaneously, the flightable device is usually in flight.

In some embodiments, the operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.

In some embodiments, obtaining the current state of the flightable device specifically includes the following steps: obtaining a control instruction received by the flightable device, the control instruction being converted and generated according to a user's touch operation, wherein the control instruction It is used to adjust or set the operating parameters of the flightable equipment.

Specifically, the user's touch operation can be directly converted into a control instruction via the control terminal and sent to the flightable device, or the control terminal forwards the touch operation to the flightable device via the communication node device, where the communication node device includes a router, Servers, base stations, etc., but not limited to this.

In some embodiments, acquiring the current state of the flightable device specifically includes the following steps: acquiring sensory data of the flightable device, the sensory data including collected environmental image data, environmental parameter data, and flight attitude data.

Specifically, by acquiring sensory data of the flightable device, where the environmental image data may be image data or video data, the environment in which the flightable device is located can be intuitively displayed to the user, and the environmental parameter data mainly includes data detected by the sensor, For example, the temperature information detected by the temperature sensor, the humidity information detected by the humidity sensor, the air pressure information detected by the barometer, the brightness information detected by the brightness sensor, and the positioning information received by the antenna, etc., but not limited to this, the flight attitude information includes the gyroscope detected Attitude information, speed information detected by the accelerometer, etc., but not limited to this.

In some embodiments, the environmental image data includes at least one of the following: still picture data, dynamic picture data, and camera data.

Specifically, first, the resolution of the static picture data is adjustable. In addition, the time and interval for sending the static picture can be determined according to the current communication quality of the flightable device or the user request. Small, secondly, the dynamic picture data can reflect the continuous environmental change information. Finally, the camera data can record the environmental change information more accurately, and feedback to the control terminal for the user to analyze the environmental data through the control terminal.

In some embodiments, the environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.

In some embodiments, the flight attitude data includes at least one of the following: accelerometer data and gyroscope data.

In some embodiments, the job information quota includes at least one of the following: a job area credit, a job mileage credit, and a job duration credit.

In some embodiments, the control method further includes: recording the flight distance of the flightable device; performing the spraying operation, and recording the spray width and spraying distance of the flightable device; and recording the operation time of the flightable device.

Specifically, by recording the flight distance of the flightable device and performing the spraying operation, and recording the spray width and spraying distance of the flightable device, and recording the operation time of the flightable device, the flightable device can be in flight In the status, it can monitor the progress of the sprinkler irrigation operation of the flightable equipment in real time, and can be used to determine whether the recharge amount can complete the remaining sprinkler irrigation operations in time, especially when the recharge amount is insufficient, the flightable equipment does not terminate the sprinkler irrigation operation, and It is to prompt the user to perform recharge operations in time to improve the reliability and integrity of the flying equipment to complete the sprinkling irrigation operation, and improve the efficiency of the flying equipment to perform the sprinkling irrigation operation.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; determining the operation area quota Whether it is greater than or equal to the preset area, and/or whether the operating mileage limit is greater than or equal to the preset mileage, and/or whether the operating duration limit is greater than or equal to the preset duration.

Specifically, for sprinkler irrigation operations, sprinkler irrigation area, sprinkler irrigation mileage and sprinkler irrigation duration are the three most important indicators for detecting whether the flying equipment has completed the sprinkler irrigation operation. The priority can be preset to analyze and judge the above three indicators, or simultaneously Judge the above three indicators, or select at least one of the three indicators according to the recharge amount for analysis and judgment.

Wherein, when performing sprinkler irrigation business, the order of preset priority from high to low is preset area, preset mileage and preset duration.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the following steps: determining that the operation area quota is less than the preset area, or determining that the operation mileage quota is less than the preset mileage Or it is determined that the operation time limit is less than the preset time period, it is determined that the operation information amount does not satisfy the preset value; the flightable device is prohibited from taking off.

Specifically, when it is determined that any one of the operation area quota, the operation mileage quota, and the operation duration quota does not satisfy the preset value, the flightable device is prohibited from taking off, which can ensure that the flightable device can perform the sprinkling irrigation operation with the greatest probability after takeoff, In turn, it helps to improve the user experience.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information amount meets the preset value; the flightable device is controlled to take off and operate.

Specifically, when it is determined that the operation area quota, the operation mileage quota, and the operation duration quota all satisfy the preset values, it is determined to control the flightable equipment to take off and execute the operation, so as to maximize the effect and reliability of the flightable equipment to complete the sprinkling irrigation operation.

In some embodiments, the control method further includes: after the flightable device takes off and operates, until the operation information quota is less than the preset value, the operation is stopped and/or the safe return flight is performed.

In some embodiments, determining whether the job information quota meets a preset value specifically includes the following steps: parsing the preset area, preset mileage, and preset duration included in the preset value; in order according to the preset priority Judging whether the operating area quota is greater than or equal to the preset area, and/or whether the operating mileage quota is greater than or equal to the preset mileage, and/or whether the operating time quota is greater than or equal to the preset duration.

Specifically, according to a preset priority, it is determined in sequence whether the operation area quota is greater than or equal to the preset area, and/or whether the operation mileage quota is greater than or equal to the preset mileage, and/or the operation Whether the time limit is greater than or equal to the preset time period, on the one hand, it reduces the conditions that restrict the flight equipment from taking off and operating, on the other hand, when the user cannot recharge, it can meet part of the user's use needs as much as possible, and Improve the user experience.

In some embodiments, determining whether the job information quota meets a preset value specifically includes the steps of: determining that the job area quota is greater than or equal to the preset area, and determining that the job mileage quota is less than the pre-set Set a mileage and determine that the operating time limit is less than the preset duration, determine that the flightable equipment meets the restrictions of the operation area; control the flightable equipment to take off and operate until the operation area amount is less than the Stop operation and/or return safely when preset area.

Specifically, for the sprinkler irrigation business, the highest preset priority in the operation information quota is the operation area quota, followed by the operation mileage quota, and again the operation time quota, when it is determined that the operation area quota meets the preset value, but, When the operating time limit and operating mileage limit do not meet the preset value, the operating area limit is still used as the upper limit to control the operating area of the flightable equipment, not only when the recharge amount is insufficient, if only the operating area limit is determined in the state of preparing for take-off Satisfying the preset value, when the flightable device is in flight, there is no need to detect the operating mileage limit and the operating time limit, which effectively reduces the power consumption of the flightable device and, at the same time, improves the user experience.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is less than the preset time length, it is determined that the flightable equipment meets the restrictions of the operation area and the operation mileage; after controlling the flightable equipment to take off and operate, to the operation When the area quota is smaller than the preset area, and the operation mileage quota is smaller than the preset mileage, the operation is stopped and/or the safe return flight is stopped.

Specifically, when it is determined that both the operating area quota and the operating mileage quota meet the preset value, but when the operating length quota does not satisfy the preset value, the operating area quota is still used as the upper limit to control the operating area of the flightable device, if it is preparing to take off In the state, it is determined that the operating area limit and the operating mileage limit meet the preset values. When the flightable device is in flight, there is no need to detect the operation time limit, which effectively reduces the power consumption of the flightable device, and at the same time, improves the user’s Use experience.

In some embodiments, the control method further includes: when determining that the current state of the flightable device is an in-flight state, detecting the flight distance and spray width of the flightable device; based on the flight distance and The spray width updates the operating area limit.

Specifically, when it is determined that the current state of the flightable device is the in-flight state, the flight distance and the spray width of the flightable device are detected, and the working area is updated according to the flight distance and the spray width Quota, calculate the operating area quota more accurately, and improve the reliability and accuracy of monitoring the sprinkler irrigation operation of the flying equipment.

In some embodiments, the control method further includes: detecting the flight path and/or flight rate of the flightable device when determining that the current state of the flightable device is the in-flight state; according to the flight path and And/or the flight rate updates the operating mileage limit.

In some embodiments, the control method further includes: when it is determined that the current state of the flightable device is an in-flight state, recording the flight time of the flightable device; updating the flight time limit according to the flight time .

As shown in FIG. 3, in some other embodiments, the above control method includes the following specific steps: Step S302, prompting the user to recharge, and updating the locally stored recharge amount according to a preset period; Step S304, obtaining the current status of the flightable device The status includes the ready-to-take-off status and the in-flight status; step S306, it is determined that the current status of the flightable device is the ready-to-takeoff status; step S308, the current remaining operation information quota of the flightable equipment is acquired, and the operation information quota is based on the user's recharge amount OK; step S310, it is determined whether the operation information quota meets the preset value, if yes, step S312 is executed, if not, step S314 is executed; step S312, the flightable device is allowed to take off; step S314, the flightable device is prohibited from taking off.

As shown in FIG. 4, the control system 104 corresponding to the above control method specifically includes hardware devices and implementation schemes as follows:

The flight controller 1042 is used to obtain the current state of the flightable device 120, and the state includes a ready-to-take-off state and an in-flight state; it is determined that the current state of the flightable device 120 is the ready-to-takeoff state; and the current operation information of the flightable device 120 is obtained Quota, the job information quota is determined according to the user's recharge amount.

The memory 1044 establishes communication with the flight controller 1042 and is used to store the operational information quota of the flightable device 120.

The power system 1046 establishes communication with the flight controller 1042 for providing flight power of the flightable device 120. When the above flight controller 1042 determines that the current remaining operation information quota does not satisfy the preset value, the power system 1046 is prohibited from starting to prohibit the flightable device 120 from taking off.

Specifically, by acquiring the current state of the flightable device 120, the flight control is performed separately for the ready-to-take-off state and the in-flight state, especially in the ready-to-take-off state, it is possible to predict whether the operation information quota meets a preset value. Satisfying the user's use requirements, on the other hand, it can ensure that the flightable device 120 performs flight operations more reliably.

Specifically, by acquiring the current remaining operational information quota of the flightable device 120, due to the correspondence between the recharge amount and the operational information quota, it can be indirectly determined whether the recharge amount can meet the needs of the flight operation, and promptly prompt The user performs recharge so that the recharge amount can ensure that the flightable device 120 completes the flight operation.

Among them, the limitation of the recharge amount provides a method for renting the flightable equipment 120, which does not require the user to purchase the flightable equipment 120 at a high unit price, and reduces the maintenance cost of the flightless equipment 120.

Specifically, by judging whether the operation information quota satisfies the preset value, and when it is not satisfied, the flightable device 120 is prohibited from taking off, and at the same time, prompting the user in time to ensure that the recharge amount can meet the needs of the flight operation, thereby ensuring The effect of the flightable device 120 performing flight operations.

In particular, in the ready-to-take-off state, if it is detected that the operational information quota of the flightable device 120 does not meet the preset value, before the next recharge amount is updated, whether the detection does not meet the preset can be determined according to the remaining power of the flightable device 120 Value of the work information quota to reduce the power consumption of the flightable device 120.

In some embodiments, the flight controller 1042 is further configured to: obtain operating parameters of the power system 1046 of the flightable device 120, the operating parameters corresponding to the take-off state or the in-flight state, so The power system 1046 includes a motor assembly and/or a propeller assembly.

Specifically, the operating parameters of the power system 1046 of the flightable device 120 are obtained, the operating parameters corresponding to the ready-to-take-off state or the in-flight state, the power system 1046 includes a motor component and/or a propeller component, Among them, the power system 1046 is configured to support the flying device 120 to complete the operation operations of flying, moving, sprinkling and irrigation. Among them, the motor assembly includes a motor, a motor driving circuit and a hardware connection, and the propeller assembly is mainly configured to support the flight of the flying device 120 And steering, that is, when the propeller assembly and the motor assembly work at the same time, the flightable device 120 is usually in flight.

In some embodiments, the flight controller 1042 is further configured to: obtain a control instruction received by the flightable device 120, and the control instruction is converted and generated according to a user's touch operation, wherein the control instruction is used To adjust or set the operating parameters of the flightable device 120.

Specifically, the user's touch operation can be directly converted into a control instruction via the control terminal and sent to the flightable device 120, or the control terminal can forward the touch operation to the flightable device 120 via the communication node device, where the communication node device includes Routers, servers, base stations, etc., but not limited to this.

In some embodiments, the flight controller 1042 is further configured to: acquire sensory data of the flightable device 120, and the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.

Specifically, by acquiring the sensory data of the flightable device 120, where the environmental image data may be image data or video data, the environment in which the flightable device 120 is located can be intuitively displayed to the user, and the environmental parameter data mainly includes sensors detected Data, such as temperature information detected by a temperature sensor, humidity information detected by a humidity sensor, air pressure information detected by a barometer, brightness information detected by a brightness sensor, and positioning information received by an antenna, etc., but not limited to this, flight attitude information includes a gyroscope Detected posture information, accelerometer detected speed information, etc., but not limited to this.

Specifically, first, the resolution of the still picture data is adjustable. In addition, the time and interval for sending the still picture can be determined according to the current communication quality of the flightable device 120 or a user request. The amount of calculation is small. Secondly, the dynamic picture data can reflect continuous environmental change information. Finally, the camera data can record the environmental change information more accurately and feed back to the control terminal for the user to analyze the environmental data through the control terminal.

In some embodiments, the control system further includes: a position sensor 1048 for recording the flying distance of the flyable device 120; a spraying system for performing the spraying operation and recording the spray width and spraying distance of the sprayable operation of the flying device 120 The timer 10410 is used to record the operating time of the flightable device 120; wherein the position sensor 1048, the spray system, and the timer 10410 all establish communication with the flight controller 1042.

Specifically, by recording the flying distance of the flyable device 120 and performing the spraying operation, and recording the spray width and spraying distance of the spraying operation of the flyable device 120, and recording the operating time of the flyable device 120, When 120 is in flight, the progress of the sprinkling irrigation operation performed by the flightable device 120 is monitored in real time, and can be used to determine whether the recharge amount can complete the remaining sprinkler irrigation operations in time, especially when the recharge amount is insufficient, the flightable device 120 is not terminated Continue to perform sprinkling irrigation operations, but promptly prompt the user to perform recharge operations to improve the reliability and integrity of the flying equipment 120 to complete the sprinkling irrigation operations, and improve the efficiency of the flying equipment 120 to perform the sprinkling irrigation operations.

In some embodiments, the flight controller 1042 is further configured to: parse the preset area, preset mileage, and preset duration included in the preset value; determine whether the operating area quota is greater than or equal to the Preset area, and/or determine whether the operating mileage limit is greater than or equal to the preset mileage, and/or determine whether the operating duration limit is greater than or equal to the preset duration.

Specifically, for sprinkler irrigation operations, sprinkler irrigation area, sprinkler irrigation mileage and sprinkler irrigation duration are the three most important indicators for detecting whether the flyable device 120 has completed sprinkler irrigation operations. The priority can be preset to analyze and judge the above three indicators, or simultaneously Analyze and judge the above three indicators, or select at least one of the three indicators according to the recharge amount to analyze and judge.

In some embodiments, the flight controller 1042 is further configured to: determine that the operating area limit is less than the preset area, or determine that the operating mileage limit is less than the preset mileage, or determine the operation When the duration limit is less than the preset duration, it is determined that the operation information limit does not satisfy the preset value; the flightable device 120 is prohibited from taking off.

Specifically, when it is determined that any one of the operating area quota, the operating mileage quota, and the operating duration quota does not satisfy the preset value, the flightable device 120 is prohibited from taking off, which can ensure that the flightable device 120 can perform sprinkling irrigation with the greatest probability after taking off Homework, which in turn helps to improve the user experience.

In some embodiments, the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is greater than or equal to the preset mileage, and When it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information limit meets the preset value; the flightable device 120 is controlled to take off and operate.

Specifically, when it is determined that the operating area quota, the operating mileage quota, and the operating duration quota all meet the preset values, it is determined to control the flying equipment 120 to take off and perform the operation, so as to maximize the effect and reliability of the flying equipment 120 to complete the sprinkling irrigation operation. Sex.

In some embodiments, the flight controller 1042 is further configured to stop the operation and/or return safely after the flightable device 120 takes off and operates until the operation information quota is less than the preset value.

In some embodiments, the flight controller 1042 is further configured to: parse a preset area, a preset mileage, and a preset duration included in the preset value; and sequentially determine the operating area quota according to a preset priority Whether it is greater than or equal to the preset area, and/or whether the operating mileage limit is greater than or equal to the preset mileage, and/or whether the operating duration limit is greater than or equal to the preset duration.

Specifically, according to a preset priority, it is determined in sequence whether the operation area quota is greater than or equal to the preset area, and/or whether the operation mileage quota is greater than or equal to the preset mileage, and/or the operation Whether the duration limit is greater than or equal to the preset duration, on the one hand, it reduces the conditions that limit the flightable device 120 to take off and operate; on the other hand, when the user cannot recharge, it can meet part of the user's use needs as much as possible. In turn, the user experience is improved.

In some embodiments, the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is less than the preset mileage, and determine When the operation time limit is less than the preset time period, it is determined that the flightable device 120 meets the limitation of the operation area; when the flightable device 120 is controlled to take off and operate until the operation area limit is less than the preset area Stop operation and/or return safely.

Specifically, for the sprinkler irrigation business, the highest preset priority in the operation information quota is the operation area quota, followed by the operation mileage quota, and again the operation time quota, when it is determined that the operation area quota meets the preset value, but, When the operating time limit and operating mileage limit do not meet the preset value, the operating area of the flightable device 120 is still controlled by the operating area limit, not only when the recharge amount is insufficient, if only the operating area is determined in the state of preparing for take-off If the quota meets the preset value, when the flightable device 120 is in flight, there is no need to detect the operation mileage limit and the operation time limit, which effectively reduces the power consumption of the flightable device 120 and, at the same time, improves the user experience.

In some embodiments, the flight controller 1042 is further configured to: determine that the operating area quota is greater than or equal to the preset area, and determine that the operating mileage quota is greater than or equal to the preset mileage, and When it is determined that the operating time limit is less than the preset duration, it is determined that the flightable device 120 meets the restrictions of the operating area and operating mileage; when the flightable device 120 is controlled to take off and operate until the operating area limit is less than the The preset area, and when the operating mileage limit is less than the preset mileage, stop the operation and/or return safely.

Specifically, when it is determined that both the operating area quota and the operating mileage quota meet the preset value, but when the operating length quota does not satisfy the preset value, the operating area of the flightable device 120 is still controlled with the operating area quota as the upper limit. In the take-off state, it is determined that the operating area limit and the operating mileage limit meet the preset values. When the flightable device 120 is in flight, there is no need to detect the operation time limit, which effectively reduces the power consumption of the flightable device 120. The user experience.

In some embodiments, the spraying system is further configured to: when determining that the current state of the flightable device 120 is an in-flight state, detect the spraying distance and spray width of the flightable device 120; the flight The controller 1042 is further configured to update the quota of the working area according to the spray distance and the spray width.

Specifically, when it is determined that the current state of the flightable device 120 is the in-flight state, the flight distance and the spray width of the flightable device 120 are detected, and the update is performed according to the flight distance and the spray width The work area quota is calculated more accurately to obtain the work area quota, which improves the reliability and accuracy of monitoring the flying equipment 120 to complete the sprinkling irrigation operation.

In some embodiments, the position sensor 1048 is further used to: when determining that the current state of the flightable device 120 is the in-flight state, detect the flight trajectory and/or flight rate of the flightable device 120; The flight controller 1042 is also used to update the operating mileage limit according to the flight trajectory and/or the flight rate.

In some embodiments, the timer 10410 is also used to: when determining that the current state of the flightable device 120 is the in-flight state, record the flight time of the flightable device 120; the flight controller 1042 , Also used to: update the flight duration quota according to the flight time.

1 and 4, the embodiments of the present disclosure provide a computer-readable storage medium 400, a flight controller 1042 and a memory 1044 are provided on the control system 104, and the computer-readable storage medium 400, on which is stored The computer program 402, when executed by the flight controller 1042, implements the steps of the control method as defined in any of the above embodiments.

The flight controller 1042 may be a central processing unit (Central Processing Unit, CPU). The flight controller 1042 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application-specific integrated circuits (Application Specific Integrated) Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Among them, the memory 1044 is used to store program codes and record status data.

In some embodiments, the flight controller 1042 is used to call the code of the computer program 402 to perform the flight operation, specifically performing the following steps:

Acquire the current state of the flightable device 120, the state including a ready-to-take-off state and an in-flight state.

It is determined that the current state of the flightable device 120 is the ready-to-take-off state.

Obtain the current remaining operation information quota of the flightable device 120, and the operation information quota is determined according to the user's recharge amount.

It is judged whether the quota of the job information meets a preset value.

If not satisfied, the flightable device 120 is prohibited from taking off.

In some embodiments, obtaining the current state of the flightable device 120 specifically includes the following steps: obtaining operation parameters of the power system 1046 of the flightable device 120, the operation parameters corresponding to the ready-to-take-off state or the flight In the neutral state, the power system 1046 includes a motor assembly and/or a propeller assembly.

In some embodiments, obtaining the current state of the flightable device 120 specifically includes the following steps: obtaining a control instruction received by the flightable device 120, the control instruction being converted and generated according to a user's touch operation, wherein, the The control instruction is used to adjust or set the operating parameters of the flightable device 120.

In some embodiments, acquiring the current state of the flightable device 120 specifically includes the following steps: acquiring sensory data of the flightable device 120, the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.

In some embodiments, the control method further includes: recording the flying distance of the flyable device 120; performing the spraying operation, and recording the spray width and spraying distance of the spraying operation of the flying device 120; recording the operating time of the flying device 120 .

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the following steps: determining that the operation area quota is less than the preset area, or determining that the operation mileage quota is less than the preset mileage , Or when it is determined that the operation time limit is less than the preset time period, it is determined that the operation information amount does not satisfy the preset value; the flightable device 120 is prohibited from taking off.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operation time limit is greater than or equal to the preset time period, it is determined that the operation information amount meets the preset value; the flightable device 120 is controlled to take off and operate.

In some embodiments, the control method further includes: after the flightable device 120 takes off and operates, until the operation information quota is less than the preset value, stop the operation and/or return safely.

In some embodiments, determining whether the job information quota meets a preset value specifically includes the steps of: determining that the job area quota is greater than or equal to the preset area, and determining that the job mileage quota is less than the pre-set Set a mileage and determine that the operating time limit is less than the preset duration, determine that the flightable device 120 meets the restriction of the operation area; when controlling the flightable device 120 to take off and operate until the operation area limit is less than Stop operation and/or return safely when the preset area is reached.

In some embodiments, determining whether the operation information quota meets a preset value specifically includes the steps of: determining that the operation area quota is greater than or equal to the preset area, and determining that the operation mileage quota is greater than or equal to all The preset mileage, and when it is determined that the operating time limit is less than the preset duration, it is determined that the flightable device 120 meets the restrictions of the operation area and the operation mileage; after controlling the flightable device 120 to take off and operate, to all When the operation area quota is less than the preset area, and the operation mileage quota is less than the preset mileage, stop the operation and/or return safely.

In some embodiments, the control method further includes: when it is determined that the current state of the flightable device 120 is the in-flight state, detecting the flight distance and spray width of the flightable device 120; according to the flight distance Update the working area quota with the spray width.

In some embodiments, the control method further includes: when determining that the current state of the flightable device 120 is an in-flight state, detecting the flight trajectory and/or flight rate of the flightable device 120; according to the flight The trajectory and/or the flight rate update the operating mileage limit.

In some embodiments, the control method further includes: when determining that the current state of the flightable device 120 is an in-flight state, recording the flight time of the flightable device 120; updating the flight according to the flight time The amount of time.

Further, it can be understood that any process or method description in the flowchart or otherwise described herein can be understood as representing executable instructions including one or more steps for implementing a specific logical function or process Modules, fragments, or parts of the code, and the scope of the preferred embodiments of the present disclosure includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or inversely according to the functions involved The order to execute the functions should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be regarded as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium, For use by, or in combination with, instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples of computer-readable media (non-exhaustive list) include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means as necessary Process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented with software or firmware stored in memory and executed by a suitable instruction execution system. For example, if it is implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a logic gate circuit for implementing a logic function on a data signal Discrete logic circuits, dedicated integrated circuits with appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried by the method in the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and when the program is executed , Including one of the steps of the method embodiment or a combination thereof.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above integrated modules may be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk.

The above are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this disclosure shall be included in the protection scope of this disclosure.

Claims

A control method for flightable equipment, including:

Obtain the current state of the flightable device, the state including the ready-to-take-off state and the in-flight state;

Determine that the current state of the flightable device is the ready-to-take-off state;

Acquiring the current remaining operation information quota of the flightable device, the operation information quota is determined according to the user's recharge amount;

Determine whether the quota of the job information meets a preset value;

If it is not satisfied, the flightable device is prohibited from taking off.
The method for controlling a flightable device according to claim 1, wherein obtaining the current state of the flightable device specifically includes the following steps:

Obtaining operating parameters of the power system of the flightable device, the operating parameters corresponding to the ready-to-take-off state or the in-flight state, the power system including a motor component and/or a propeller component.
The control method of a flightable device according to claim 2, wherein:

The operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.
The method for controlling a flightable device according to claim 1, wherein obtaining the current state of the flightable device specifically includes the following steps:

Acquiring control instructions received by the flightable device, the control instructions being converted and generated according to the user's touch operation,

Wherein, the control instruction is used to adjust or set the operating parameters of the flightable device.
The method for controlling a flightable device according to claim 1, wherein obtaining the current state of the flightable device specifically includes the following steps:

Acquire sensory data of the flightable device, where the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.
The control method of a flightable device according to claim 5, wherein:

The environmental image data includes at least one of the following: static picture data, dynamic picture data, and camera data.
The control method of a flightable device according to claim 5, wherein:

The environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.
The control method of a flightable device according to claim 5, wherein:

The flight attitude data includes at least one of the following: accelerometer data and gyroscope data.
The control method of a flightable device according to any one of claims 1 to 8, wherein

The operation information quota includes at least one of the following: an operation area quota, an operation mileage quota, and an operation duration quota.
The control method of a flightable device according to claim 9, wherein the control method further comprises:

Record the flight distance of the flightable equipment;

Perform spraying operations, and record the spray width and spraying distance of the flying equipment spraying operations;

Record the operating time of flightable equipment.
The control method of a flightable device according to claim 10, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

Parse the preset area, preset mileage and preset duration included in the preset value;

Determine whether the amount of the work area is greater than or equal to the preset area, and/or

Determine whether the operating mileage limit is greater than or equal to the preset mileage, and/or

It is judged whether the quota of the working time is greater than or equal to the preset time.
The control method of a flightable device according to claim 11, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

When it is determined that the work area quota is less than the preset area, or the work mileage quota is determined to be less than the preset mileage, or the work duration credit is determined to be less than the preset duration, it is determined that the work information quota is not Meet the preset value;

The flightable equipment is prohibited from taking off.
The control method of a flightable device according to claim 11, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

When it is determined that the work area quota is greater than or equal to the preset area, and the work mileage quota is determined to be greater than or equal to the preset mileage, and it is determined that the work duration quota is greater than or equal to the preset duration, it is determined The quota of the operation information satisfies the preset value;

Control the flightable equipment to take off and operate.
The control method of a flightable device according to claim 12, wherein the control method further comprises:

After the flightable device takes off and operates, until the operation information quota is less than the preset value, the operation is stopped and/or the safe return is performed.
The method for controlling a flightable device according to claim 9, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

Parse the preset area, preset mileage and preset duration included in the preset value;

According to a preset priority, determine whether the operation area quota is greater than or equal to the preset area, and/or whether the operation mileage quota is greater than or equal to the preset mileage, and/or whether the operation duration quota is greater than Or equal to the preset duration.
The method for controlling a flightable device according to claim 14, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

When it is determined that the operating area quota is greater than or equal to the preset area, and the operating mileage quota is determined to be less than the preset mileage, and the operating duration quota is determined to be less than the preset duration, the flightable is determined The equipment meets the limits of the working area;

When the flightable equipment is controlled to take off and operate until the operation area is less than the preset area, the operation is stopped and/or the safe return is performed.
The method for controlling a flightable device according to claim 14, wherein determining whether the operation information quota meets a preset value specifically includes the following steps:

When it is determined that the work area quota is greater than or equal to the preset area, and it is determined that the work mileage quota is greater than or equal to the preset mileage, and it is determined that the work duration quota is less than the preset duration, it is determined that the Flightable equipment meets the limits of operating area and operating mileage;

When the flightable device is controlled to take off and operate until the operating area limit is less than the preset area, and the operating mileage limit is less than the preset mileage, stop the operation and/or return safely.
The control method of a flightable device according to claim 14, wherein the control method further comprises:

When it is determined that the current state of the flightable device is the in-flight state, detecting the flight distance and spray width of the flightable device;

The operating area quota is updated according to the flying distance and the spray width.
The control method of a flightable device according to claim 14, wherein the control method further comprises:

When it is determined that the current state of the flightable device is the in-flight state, detecting the flight trajectory and/or flight rate of the flightable device;

The operating mileage limit is updated according to the flight trajectory and/or the flight rate.
The control method of a flightable device according to claim 14, wherein the control method further comprises:

When it is determined that the current state of the flightable device is the in-flight state, record the flight time of the flightable device;

The amount of flight duration is updated according to the flight time.
A control system, including:

The flight controller is used to obtain the current state of the flightable equipment, which includes the ready-to-take-off state and the in-flight state; determine the current state of the flightable equipment as the ready-to-takeoff state; obtain the current operational information quota of the flightable equipment The amount of job information is determined according to the user's recharge amount;

A memory, which establishes communication with the flight controller, and is used to store the operational information quota of the flightable device;

A power system that establishes communication with the flight controller to provide flight power for the flightable device; wherein,

When the above flight controller judges that the current remaining operation information quota does not satisfy the preset value, the power system is prohibited from starting to prohibit the flightable device from taking off.
The control system according to claim 21, wherein

The flight controller is also used for:

Obtaining operating parameters of the power system of the flightable device, the operating parameters corresponding to the ready-to-take-off state or the in-flight state, the power system including a motor assembly and/or a propeller assembly.
The control system according to claim 22, wherein

The operating parameters include at least one of the following: load current, load voltage, operating frequency, speed, and rotor angle.
The control system according to claim 21, wherein

The flight controller is also used for:

Acquiring control instructions received by the flightable device, the control instructions being converted and generated according to the user's touch operation,

Wherein, the control instruction is used to adjust or set the operating parameters of the flightable device.
The control system according to claim 21, wherein

The flight controller is also used for:

Acquire sensory data of the flightable device, the sensory data includes collected environmental image data, environmental parameter data, and flight attitude data.
The control system according to claim 24, wherein

The environmental image data includes at least one of the following: static picture data, dynamic picture data, and camera data.
The control system according to claim 25, wherein

The environmental parameter data includes at least one of the following: temperature data, humidity data, air pressure data, wind speed data, and azimuth data.
The control system according to claim 25, wherein

The flight attitude data includes at least one of the following: accelerometer data and gyroscope data.
The control system according to any one of claims 21 to 28, wherein

The operation information quota includes at least one of the following: an operation area quota, an operation mileage quota, and an operation duration quota.
The control system according to claim 29, wherein the control system further comprises:

Position sensor, used to record the flight distance of the flightable equipment;

Spraying system, used to perform spraying operations, and record the spray width and spraying distance of the flying equipment spraying operation;

Timer, used to record the operating time of flightable equipment;

The position sensor, spray system, and timer all establish communication with the flight controller.
The control system according to claim 30, wherein

The flight controller is also used for:

Parse the preset area, preset mileage and preset duration included in the preset value;

Judging whether the operating area quota is greater than or equal to the preset area, and/or judging whether the operating mileage quota is greater than or equal to the preset mileage, and/or judging whether the operating length quota is greater than or equal to the The preset duration.
The control system according to claim 31, wherein

The flight controller is also used for:

When it is determined that the work area quota is less than the preset area, or the work mileage quota is determined to be less than the preset mileage, or the work duration credit is determined to be less than the preset duration, it is determined that the work information quota is not Meet the preset value;

The flightable equipment is prohibited from taking off.
The control system according to claim 31, wherein

The flight controller is also used for:

When it is determined that the work area quota is greater than or equal to the preset area, and the work mileage quota is determined to be greater than or equal to the preset mileage, and it is determined that the work duration quota is greater than or equal to the preset duration, it is determined The quota of the operation information satisfies the preset value;

Control the flightable equipment to take off and operate.
The control system according to claim 32, wherein

The flight controller is also used for:

After the flightable device takes off and operates, until the operation information quota is less than the preset value, the operation is stopped and/or the safe return is performed.
The control system according to claim 29, wherein

The flight controller is also used for:

Parse the preset area, preset mileage and preset duration included in the preset value;

According to a preset priority, determine whether the operation area quota is greater than or equal to the preset area, and/or the operation mileage quota is greater than or equal to the preset mileage, and/or the operation duration quota is greater than Or equal to the preset duration.
The control system according to claim 34, wherein

The flight controller is also used for:

When it is determined that the work area quota is greater than or equal to the preset area, and it is determined that the work mileage quota is greater than or equal to the preset mileage, and it is determined that the work duration quota is less than the preset duration, it is determined that the Flightable equipment meets the limits of operating area and operating mileage;

When the flightable device is controlled to take off and operate until the operating area limit is less than the preset area, and the operating mileage limit is less than the preset mileage, stop the operation and/or return safely.
The control system according to claim 34, wherein

The flight controller is also used for:

When it is determined that the work area quota is greater than or equal to the preset area, and it is determined that the work mileage quota is greater than or equal to the preset mileage, and it is determined that the work duration quota is less than the preset duration, it is determined that the Flightable equipment meets the limits of operating area and operating mileage;

When the flightable device is controlled to take off and operate until the operating area limit is less than the preset area, and the operating mileage limit is less than the preset mileage, stop the operation and/or return safely.
The control system according to claim 34, wherein

The spraying system is also used for:

When it is determined that the current state of the flightable device is the in-flight state, detecting the spraying distance and spray width of the flightable device;

The flight controller is also used for:

The quota of the working area is updated according to the spray distance and the spray width.
The control system according to claim 34, wherein

The position sensor is also used for:

When it is determined that the current state of the flightable device is the in-flight state, detecting the flight trajectory and/or flight rate of the flightable device;

The flight controller is also used for:

The operating mileage limit is updated according to the flight trajectory and/or the flight rate.
The control system according to claim 34, wherein

The timer is also used for:

When it is determined that the current state of the flightable device is the in-flight state, record the flight time of the flightable device;

The flight controller is also used for:

The amount of flight duration is updated according to the flight time.
A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the steps of the control method according to any one of claims 1 to 20 are realized.
A flightable device, including:

A hardware device configured to realize the movement, flight, image acquisition, and sprinkling irrigation of the flightable device;

The control system according to any one of claims 21 to 40, the control system being configured to control the hardware device to execute the received instruction.