WO2020133241A1 - 农业植保无人机的控制方法、农业植保无人机和计算机可读存储介质 - Google Patents

农业植保无人机的控制方法、农业植保无人机和计算机可读存储介质 Download PDF

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Publication number
WO2020133241A1
WO2020133241A1 PCT/CN2018/124963 CN2018124963W WO2020133241A1 WO 2020133241 A1 WO2020133241 A1 WO 2020133241A1 CN 2018124963 W CN2018124963 W CN 2018124963W WO 2020133241 A1 WO2020133241 A1 WO 2020133241A1
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WIPO (PCT)
Prior art keywords
plant protection
agricultural plant
pesticide
information
protection drone
Prior art date
Application number
PCT/CN2018/124963
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English (en)
French (fr)
Inventor
卢宏煜
李光
陈庭欣
Original Assignee
深圳市大疆软件科技有限公司
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.)
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Application filed by 深圳市大疆软件科技有限公司 filed Critical 深圳市大疆软件科技有限公司
Priority to CN201880069902.7A priority Critical patent/CN111295332B/zh
Priority to PCT/CN2018/124963 priority patent/WO2020133241A1/zh
Publication of WO2020133241A1 publication Critical patent/WO2020133241A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • 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
    • 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 present disclosure relates to the technical field of unmanned aerial vehicles, and more specifically, the present disclosure relates to a control method of an agricultural plant protection drone, an agricultural plant protection drone, and a computer-readable storage medium.
  • Agricultural plant protection drones have been widely used in modern agricultural operations.
  • the use of agricultural plant protection drones can treat pesticides, fungicides, herbicides, ripening defoliants, sugar enhancers, foliar fertilizers and other liquid pesticides or
  • the spraying of nutrient solution can also sow solid seeds, and can also survey and map farmland.
  • the application of agricultural plant protection drones plays a very important role in preventing diseases and insect pests and increasing crop yields.
  • the embodiments of the present disclosure aim to provide an agricultural plant protection drone control method, an agricultural plant protection drone, and a computer-readable storage medium, which realize the pesticide information and the operation information of the agricultural plant protection drone. Good matching, so that it can be accurately sprayed according to the operation information during the application process of the drone.
  • a method for controlling agricultural plant protection drones including: acquiring operation information of agricultural plant protection drones; acquiring pesticide information of pesticides required for agricultural plant protection drone operations; and The operation information and the pesticide information are matched, and the operation of the agricultural plant protection drone is fed back according to the matching situation, so that the user can adjust the control of the agricultural plant protection drone in time after obtaining the feedback.
  • an agricultural plant protection drone including: a power device for providing flight power to the agricultural plant protection drone; a spray system for performing the agricultural plant protection drone Spraying operation; flight controller, electrically connected to the power device and the spraying system, for controlling the power device and the spraying system; communication device, for controlling the agricultural plant protection drone control terminal Communication connection, the communication device is electrically connected to the drone.
  • the flight controller is configured to: obtain the operation information of the agricultural plant protection drone; obtain the pesticide information of the pesticide required for the operation of the agricultural plant protection drone; and match the operation information with the pesticide information, and according to The matching situation feeds back the operation of the agricultural plant protection drone, so that the user can adjust the control of the agricultural plant protection drone in time after obtaining the feedback.
  • a computer-readable storage medium that stores a computer program that when executed by at least one processor causes at least one processor to execute the agricultural plant protection drone described above Control method.
  • the pesticide information and the operation information of the agricultural plant protection drone can be accurately matched, so that the agricultural plant protection drone can accurately spray according to the operation information when performing the spraying operation.
  • FIG. 1 is a flowchart illustrating a control method of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • FIG. 2 is a flowchart illustrating a control method of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • 3A-3D are schematic diagrams illustrating application scenarios of agricultural plant protection drones according to an embodiment of the present disclosure.
  • FIG. 4 is a block diagram illustrating an agricultural plant protection drone according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram illustrating an agricultural plant protection drone according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram illustrating a computer-readable storage medium according to an embodiment of the present disclosure.
  • FIG. 1 is a flowchart illustrating a control method of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • the operation information of the agricultural plant protection drone is acquired.
  • the operation information can be obtained during the operation of the agricultural plant protection drone, and the operation information may include one or more of the following: operation speed, operation duration, drone spray width, operation distance, and unmanned The flying height of the aircraft, the velocity of the nozzle and the flow of the nozzle.
  • the above operation information can be obtained through a sensor mounted on the UAV.
  • the position sensor can record the position information of the agricultural plant protection drone, and can obtain the working distance, flying height and other information of the agricultural plant protection drone.
  • the position sensor includes at least one of a gyroscope, a positioning antenna, an electronic compass, and an inertial measurement unit.
  • an ultrasonic sensor a visual sensor (monocular sensor or binocular sensor) can also be used to obtain the spray width of the drone, and an environmental sensor and a barometer can be used to obtain other operational information.
  • the operation information such as the flow rate and flow rate of the nozzle can be obtained through a flow valve or the like.
  • the positioning antenna can solve the heading information of the agricultural plant protection drone based on the Global Positioning System (Global Positioning System, GPS). Or, through high-precision positioning (RTK: Real-time Kinematic, real-time dynamic) carrier phase differential technology to obtain more accurate position information of agricultural plant protection drones, so as to solve a variety of operations such as flight speed, operating distance, flying height, etc. information.
  • GPS Global Positioning System
  • RTK Real-time Kinematic, real-time dynamic carrier phase differential technology
  • FIG. 3A is a schematic diagram illustrating acquiring operation information during an operation of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • the obtained operation information includes information such as the flight hours of the agricultural plant protection drone, the spray flow rate, the relative operation height, the line distance, and the speed.
  • FIG. 3A also shows the flight route (broken line) of the agricultural plant protection drone.
  • FIG. 3B is a schematic diagram showing details of flight records obtained during the operation of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • the obtained record details may include information such as operation number, flight record number, flight mode, geographic location, operation plot, operation area, medication amount, and type of medicine.
  • step S120 pesticide information of pesticides required for agricultural plant protection drone operations is obtained.
  • the pesticide information may include, for example, one or more of the following: the name of the pesticide, the dosage form of the pesticide, the dosage of the pesticide per mu, the content of the active ingredient of the pesticide, and the packaging specifications of the pesticide.
  • the pesticide information can be obtained by image recognition of the image identifier on the outer packaging of the pesticide.
  • the image identifier may include a two-dimensional code, barcode, digital symbol or photo of the pesticide.
  • the camera identifier mounted on the control terminal of the agricultural plant protection drone may be used to obtain the image identifier, or the camera installed on the agricultural plant protection drone itself may be used to obtain the image identifier, which is not limited herein.
  • the pesticide information can be obtained through an electronic label of the outer packaging of the radio frequency identification pesticide.
  • the electronic tag may include an RFID tag or an NFC tag.
  • the electronic reader capable of radio frequency identification may be an electronic reader carried on the control terminal of an agricultural plant protection drone, or an electronic reader carried on the unmanned aerial vehicle itself, which is not limited herein.
  • the pesticide information can be manually input by the user on the control terminal of the agricultural plant protection drone.
  • a user may manually input on an electronic mobile device with a display function, and the pesticide information input by the user may be one item or multiple items.
  • the pesticide information can be obtained through image recognition or radio frequency identification, and then the user can manually input or modify the pesticide information with obvious errors.
  • the pesticide information may be manually input by the user and then acquired through image recognition or radio frequency identification to improve the accuracy of pesticide information acquisition.
  • FIG. 3C is a schematic diagram illustrating pesticide information acquired according to an embodiment of the present disclosure.
  • the "pesticide details" interface displays the acquired pesticide information, including product name, pesticide name, dosage form, specification and content. It should be noted that the acquired pesticide information is not limited to the specific example shown in FIG. 3C, but may also include other pesticide-related information, such as the amount of pesticides per mu.
  • step S130 based on the operation information and the pesticide information, the total amount of pesticide actually used for completing the agricultural plant protection drone operation is determined.
  • the actual number of acres of agricultural plant protection unmanned aerial vehicles can be determined based on the operation information.
  • the actual operation mu number S can be calculated as follows:
  • v represents the flying speed of the drone
  • t represents the flying time of the drone
  • W represents the spray width of the drone.
  • the flying height may affect the spray width, so the value of the spray width can be adjusted according to the flying height.
  • L represents the flying distance of the drone
  • W represents the spray width of the drone.
  • the flying height may affect the spray width, so the value of the spray width can be adjusted according to the flying height.
  • the total amount of pesticides actually used to complete the agricultural plant protection drone operation can be determined according to the acquired nozzle flow rate and the actual operation mu.
  • the nozzle flow rate refers to the amount of pesticide sprayed per unit area (mu). Therefore, by multiplying the nozzle flow rate with the actual operating area (mu), the total amount of pesticides actually used can be obtained.
  • the total amount of pesticides actually used to complete the agricultural plant protection drone operation can be determined according to the acquired nozzle flow rate and the operation time.
  • the nozzle flow rate refers to the spray amount per unit time. Therefore, by multiplying the nozzle flow rate by the operating time, the total amount of pesticide actually used can be obtained.
  • the number of pesticide bottles actually used may be determined according to the total amount of pesticides actually used in agricultural plant protection drone operations and pesticide information. Further, the subsidy instruction can be generated according to the number of pesticide bottles actually used. The subsidy instruction can be sent to the user's control terminal so that the subsidy amount can be directly reflected on the user's control terminal.
  • FIG. 2 is a flowchart illustrating a control method of an agricultural plant protection drone according to an embodiment of the present disclosure.
  • the operation information of the agricultural plant protection drone is acquired.
  • the job information may include one or more of the following: the name of the job, the parcel information of the job, the area information of the job, and the type information of the job.
  • the operation information may be predetermined by the control terminal of the agricultural plant protection drone before the operation.
  • the operation information can be manually input by the user on the control terminal of the agricultural plant protection drone.
  • An example of this situation includes: when a user performs a job on a parcel for the first time, the job information of the parcel can be input on the control terminal.
  • 3D is a schematic diagram illustrating job information input according to one embodiment of the present disclosure.
  • the job information can be input by the user on the control terminal.
  • the user can enter information such as the start time of the job, the task name of the job, the information of the parcel of the job, the area information of the job, the geographic location, the detailed address, the estimated area, and the type of crop.
  • the user does not have to enter all this information. For example, you can not enter information such as the task name or geographic location.
  • the job information may be selected by the user from historical job information stored in the control terminal. For example, if one or more jobs have been executed for a certain parcel, the user can select information related to the current job operation from the stored historical data.
  • the operation information may further include operation information acquired during the operation of the agricultural plant protection drone.
  • the acquired operation information may include one or more of the following: operation speed, operation duration, drone spray width, operation distance, drone flight height, nozzle flow rate, and nozzle flow rate.
  • the pesticide information of the pesticide required for the operation of the agricultural plant protection drone is obtained.
  • the pesticide information may include one or more of the following: the quantity of the pesticide, the name of the pesticide, the dosage form of the pesticide, the specifications of the pesticide, and the active ingredient content of the pesticide.
  • the pesticide information can be obtained by image recognition of the image identifier on the outer packaging of the pesticide.
  • the image identifier may include a two-dimensional code, barcode, digital symbol or photo of the pesticide.
  • the pesticide information can be obtained through an electronic label of the outer packaging of the radio frequency identification pesticide.
  • the electronic tag may include an RFID tag or an NFC tag.
  • the pesticide information can be manually input by the user on the control terminal of the agricultural plant protection drone.
  • step S230 the operation information and the pesticide information are matched, and the operation of the agricultural plant protection drone is fed back according to the matching situation, so that the user can adjust the control of the agricultural plant protection drone in time after obtaining the feedback.
  • the job area in the job information is matched with the pesticide quantity in the pesticide information, and the recommended pesticide quantity usage interval is fed back to the user according to the job area. Further, if the operation information was previously obtained from the agricultural plant protection drone operation process in step S210, the amount of pesticide used in the operation process can be calculated based on the acquired operation information in the operation process, and the operation process can be used The quantity of pesticides is compared with the recommended quantity of pesticides.
  • a prompt message may be sent to the user.
  • the prompt information may include a sound prompt, a display interface prompt, or a flashing light alarm.
  • the operation of the agricultural plant protection drone can be automatically controlled.
  • the automatic control may include: automatically adjusting the flying speed of the drone and/or automatically adjusting the flow rate of the nozzle of the drone.
  • the operation area in the operation information can be matched with the quantity of pesticide in the pesticide information, and the recommended operation area can be fed back to the user according to the acquired quantity of pesticide.
  • the obtained operation information includes flight hours, spray flow, relative operation height, line distance, and speed of the agricultural plant protection drone.
  • the "working area" shown in Fig. 3B is 1.7 mu.
  • the amount of pesticides consumed per acre can be calculated based on the number of pesticides (medicine amount) used in this operation (1.7 acres of pesticide spraying). Then, divide the quantity of pesticides obtained by the quantity of pesticides consumed per mu, calculate the recommended operating area and feed it back to the user.
  • FIG. 4 is a block diagram illustrating an agricultural plant protection drone according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram illustrating an agricultural plant protection drone according to an embodiment of the present disclosure.
  • the agricultural plant protection drone 40 includes a power device 410, a spray system 420, a communication device 430 and a flight controller 440.
  • the power unit 410 is used to provide flying power to the UAV 40.
  • the power unit 410 may include a propulsion unit for generating a lift force to propel the drone 40 so that the drone 40 can fly in three-dimensional space.
  • the propulsion unit may include one or more rotors.
  • the drone 40 may be capable of spatial translation along one, two, or three axes, and these axes may be orthogonal to each other.
  • these axes may include a pitch axis, a yaw axis, and/or a roll axis.
  • the drone 40 can also rotate about one, two or three axes, and these axes can be orthogonal to each other.
  • these axes may be pitch axes, yaw axes, and/or roll axes.
  • the drone 40 may have a central body with one or more arms or branches extending from the central body.
  • the arms can extend laterally or radially from the central body.
  • the arm may be movable relative to the central body, or may be fixed relative to the central body.
  • These arms can support one or more propulsion units.
  • each arm can support one, two or more propulsion units.
  • the spraying system 420 is used to perform spraying operations of agricultural plant protection drones.
  • the spraying system 420 may include a container for loading pesticides, a nozzle for spraying pesticides, and a matching connector.
  • the communication device 430 is used for communication connection with the control terminal of the agricultural plant protection drone.
  • the communication between the agricultural plant protection drone and the control terminal may be wireless communication.
  • direct communication can be provided between agricultural plant protection drones and control terminals without any intermediate devices or networks.
  • indirect communication can also be provided between the agricultural plant protection drone and the control terminal.
  • Indirect communication can be performed by means of one or more intermediary devices or networks.
  • indirect communication may utilize telecommunications networks.
  • Indirect communication can be performed by means of one or more routers, communication towers, satellites, or any other intermediary devices or networks.
  • Examples of communication types may include, but are not limited to: communication via the Internet, local area network (LAN), wide area network (WAN), Bluetooth, near field communication (NFC) technology, based on mobile data protocols (such as general packet radio service (GPRS), GSM , Enhanced Data GSM Environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) network), infrared (IR) communication technology, and/or Wi-Fi, and may be wireless, wired, or a combination thereof.
  • GPRS general packet radio service
  • GSM Global System for Mobile communications
  • EDGE Enhanced Data GSM Environment
  • IR infrared
  • Wi-Fi Wi-Fi
  • the control terminal may be any type of external device.
  • Examples of control terminals may include, but are not limited to, smartphones/cell phones, tablet computers, personal digital assistants (PDAs), laptop computers, desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems , A wearable device (for example, a head-mounted device (HMD), a gesture recognition device, a microphone, any electronic device capable of providing or presenting image data, or any other type of device.
  • the control terminal may be a handheld object. In some cases, The control terminal may be located away from the user, and the user may use wireless and/or wired communication to communicate with the control terminal.
  • the control terminal may include one or more memory storage devices including non-transitory computer-readable media containing code, logic, or instructions for performing one or more actions.
  • the control terminal may include one or more processors capable of executing code in a non-transitory computer-readable medium.
  • the control terminal may include a communication unit, which may allow communication with the agricultural plant protection drone.
  • the communication unit may include a single communication module or multiple communication modules.
  • the control terminal may be able to interact with the agricultural plant protection drone using a single communication link or multiple different types of communication links.
  • the control terminal may include a display (or display device).
  • the display may be a screen.
  • the display may be a touch screen. Examples of displays include light emitting diode (LED) screens, OLED screens, liquid crystal display (LCD) screens, plasma screens, or any other type of screen.
  • the display may be configured to display a graphical user interface (GUI).
  • GUI graphical user interface
  • the GUI may show an image that may allow the user to control the actions of the agricultural plant protection drone.
  • the user can select a target from the image.
  • the target may be a stationary target or a moving target.
  • the user can select the direction of travel from the image.
  • the user can select a portion of the image (eg, points, areas, and/or objects) to define the flight target and/or direction of the agricultural plant protection drone.
  • the user can touch a part of the screen.
  • the user can touch a part of the screen by touching a point on the screen.
  • the user can select an area on the screen from a pre-existing set of areas, or can draw the boundary of the area, the diameter of the area, or specify a part of the screen in any other way.
  • the user can select the image by means of a user interaction device (for example, mouse, joystick, keyboard, trackball, touch pad, button, verbal command, gesture recognition, gesture sensor, thermal sensor, touch capacitive sensor, or any other device)
  • One part is to choose the flight target and/or direction of the agricultural plant protection drone.
  • the touch screen may be configured to detect the position of the user's touch, the length of the touch, the pressure of the touch, and/or the touch movement, whereby each of the above-mentioned touch modes may indicate a specific input command from the user.
  • Flight controller 440 is connected to the power unit 410, the spray system 420, and the communication device 430 for controlling the operation of these components.
  • Flight controller 440 may include one or more memory storage devices that include non-transitory computer-readable media containing code, logic, or instructions for performing one or more actions.
  • Flight controller 440 may include one or more processors capable of executing code in a non-transitory computer-readable medium.
  • the flight controller 440 may be configured to perform the method of the present disclosure described above in conjunction with FIGS. 1 and 2. E.g,
  • the flight controller 440 may be configured to: obtain the operation information of the agricultural plant protection drone 40; obtain the pesticide information of the pesticide required for the operation of the agricultural plant protection drone 40; and according to the operation information and the pesticide information, Determine the total amount of pesticides actually used to complete the agricultural plant protection drone 40 operation.
  • the flight controller 440 may be configured to: obtain the operation information of the agricultural plant protection drone 40; obtain the pesticide information of the pesticide required for the operation of the agricultural plant protection drone 40; and perform the operation information and the pesticide information Match, and feedback the operation of the agricultural plant protection drone according to the matching situation, so that the user can adjust the control of the agricultural plant protection drone 40 in time after obtaining the feedback.
  • the embodiments of the present disclosure may be implemented by means of computer program products.
  • the computer program product may be a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium, and when the computer program is executed on a computing device, related operations can be performed to implement the above-mentioned technical solutions of the present disclosure.
  • FIG. 6 is a block diagram illustrating a computer-readable storage medium 60 according to an embodiment of the present disclosure.
  • the computer-readable storage medium 60 includes a computer program 610.
  • the computer program 610 when executed by at least one processor, causes the at least one processor to perform, for example, the various steps of the method described according to FIG. 1 or FIG. Since the methods shown in FIGS. 1 and 2 have been described in detail above, they will not be repeated here.
  • examples of the computer-readable storage medium 60 include, but are not limited to: semiconductor storage media, optical storage media, magnetic storage media, or any other form of computer-readable storage media.
  • Such settings of the present disclosure are typically provided as software, codes, and/or other data structures set or encoded on computer-readable media such as optical media (eg, CD-ROM), floppy disks, or hard disks, or such as one or more Firmware or microcode on ROM or RAM or PROM chips or other media, or downloadable software images in one or more modules, shared databases, etc.
  • Software or firmware or such a configuration may be installed on the computing device so that one or more processors in the computing device execute the technical solutions described in the embodiments of the present disclosure.
  • each functional module or each feature of the device used in each of the above embodiments may be implemented or executed by a circuit, which is usually one or more integrated circuits.
  • Circuits designed to perform various functions described in this specification may include general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs) or general-purpose integrated circuits, field programmable gate arrays (FPGAs), or other Programming logic devices, discrete gate or transistor logic, or discrete hardware components, or any combination of the above devices.
  • a general-purpose processor may be a microprocessor, or the processor may be an existing processor, controller, microcontroller, or state machine.
  • the above-mentioned general-purpose processor or each circuit may be configured by a digital circuit, or may be configured by a logic circuit.
  • the present disclosure may also use integrated circuits obtained using the advanced technologies.
  • the program running on the device may be a program that causes a computer to realize the functions of the embodiments of the present disclosure by controlling a central processing unit (CPU).
  • the program or information processed by the program may be temporarily stored in volatile memory (such as random access memory RAM), hard disk drive (HDD), non-volatile memory (such as flash memory), or other memory systems.
  • volatile memory such as random access memory RAM
  • HDD hard disk drive
  • non-volatile memory such as flash memory
  • the program for realizing the functions of the embodiments of the present disclosure may be recorded on a computer-readable recording medium.
  • the corresponding functions can be realized by causing the computer system to read the programs recorded on the recording medium and execute the programs.
  • the so-called "computer system” here may be a computer system embedded in the device, and may include an operating system or hardware (such as a peripheral device).

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

一种农业植保无人机的控制方法，包括：获取农业植保无人机的作业信息（S210）；获取农业植保无人机作业所需的农药的农药信息（S220）；以及将该作业信息和该农药信息进行匹配，并根据匹配情况对该农业植保无人机的作业进行反馈（S230），以使用户在获得反馈后及时调整对该农业植保无人机的控制。还提供了一种农业植保无人机和一种计算机可读存储介质。

Description

农业植保无人机的控制方法、农业植保无人机和计算机可读存储介质 技术领域
本公开涉及无人机技术领域，更具体地，本公开涉及一种农业植保无人机的控制方法、一种农业植保无人机和一种计算机可读存储介质。
背景技术
农业植保无人机已经广泛的应用于现代化农业作业中，使用农业植保无人机能够对杀虫剂、杀菌剂、除草剂以及催熟脱叶剂、增糖剂、叶面肥料等液体农药或营养液进行喷洒作业，也能够对固体种子进行播种，还能对农田进行测绘等工作。农业植保无人机的应用对于防治病虫害、提高农作物产量具有十分重要的作用。
然而，目前农药信息与农业植保无人机的作业信息无法匹配，无法实现精细农业的目标，使得用户在使用农业植保无人机进行喷洒作业时无法做到根据作业信息进行精确喷洒。
发明内容
本公开的实施例旨在提供了一种农业植保无人机的控制方法、一种农业植保无人机和一种计算机可读存储介质，实现了农药信息与农业植保无人机的作业信息的良好匹配，从而能够在无人机的施药过程中根据作业信息进行精确喷洒。
根据本公开的第一方面，提供了一种农业植保无人机的控制方法，包括：获取农业植保无人机的作业信息；获取农业植保无人机作业所需的农药的农药信息；以及将所述作业信息和所述农药信息进行匹配，并根据匹配情况对所述农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对所述农业植保无人机的控制。
根据本公开的第二方面，提供了一种农业植保无人机，包括：动力装置，用于给所述农业植保无人机提供飞行动力；喷洒系统，用于执行所述农业植保无人机的喷洒作业；飞行控制器，与所述动力装置和所述喷洒系统电连接，用于控制所述动力装置和所述喷洒系统；通信装置，用于与所 述农业植保无人机的控制终端通信连接，所述通信装置与所述无人机电连接。所述飞行控制器被配置为：获取农业植保无人机的作业信息；获取农业植保无人机作业所需的农药的农药信息；以及将所述作业信息和所述农药信息进行匹配，并根据匹配情况对所述农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对所述农业植保无人机的控制。
根据本公开的第三方面，提供了一种计算机可读存储介质，存储有计算机程序，当计算机程序由至少一个处理器运行时，使至少一个处理器执行上文所述的农业植保无人机的控制方法。
采用本公开的技术方案，可以将农药信息与农业植保无人机的作业信息进行准确匹配，使得农业植保无人机在执行喷洒作业时能够根据作业信息进行精确喷洒。
附图说明
通过下文结合附图的详细描述，本公开的上述和其它特征将会变得更加明显，其中：
图1是示出了根据本公开一个实施例的农业植保无人机的控制方法的流程图。
图2是示出了根据本公开一个实施例的农业植保无人机的控制方法的流程图。
图3A-图3D是示出了根据本公开一个实施例的农业植保无人机的应用场景的示意图。
图4是示出了根据本公开一个实施例的农业植保无人机的框图。
图5是示出了本公开一个实施例的农业植保无人机的示意图。
图6是示出了根据本公开一个实施例的计算机可读存储介质的示意图。
需要注意的是，附图不一定按比例绘制，重点在于示出本文公开的技术的原理。另外，为了清楚起见，贯穿附图中的相似的附图标记指代相似的元素。
具体实施方式
下面结合附图和具体实施方式对本公开进行详细阐述。应当注意，本公开不应局限于下文所述的具体实施方式。另外，为了简便起见，省略了对与本公开没有直接关联的公知技术的详细描述，以防止对本公开的理解造成混淆。
图1是示出了根据本公开一个实施例的农业植保无人机的控制方法的流程图。
如图1所示，在步骤S110，获取农业植保无人机的作业信息。例如，可以在农业植保无人机的作业过程中获取作业信息，该作业信息例如可以包括以下一项或更多项：作业速度、作业时长、无人机的喷幅宽度、作业距离、无人机的飞行高度、喷头流速以及喷头流量。具体可以通过无人飞行器上搭载的传感器获取上述作业信息。例如，位置传感器可以记录农业植保无人机的位置信息，能够获取该农业植保无人机的作业距离，飞行高度等信息。位置传感器包括陀螺仪、定位天线、电子罗盘、惯性测量单元中的至少一种。又例如，还可以使用超声传感器、视觉传感器(单目传感器或者双目传感器)获取无人机的喷幅宽度，使用环境传感器和气压计等对其它作业信息进行获取。又或者，通过流量阀等装置获取喷头流速或流量等作业信息。
在一个实施例中，定位天线能够基于全球定位系统(Global Positioning System，GPS)解算农业植保无人机的航向信息。或者，通过高精度定位(RTK：Real-time kinematic，实时动态)载波相位差分技术更为精确的获得农业植保无人机的位置信息，从而解算出飞行速度，作业距离，飞行高度等多种作业信息。
图3A是示出了根据本公开一个实施例的在农业植保无人机的作业过程中获取作业信息的示意图。如图3A所示，所获取的作业信息包括农业植保无人机的飞行小时、喷洒流量、相对作业高度、行距以及速度等信息。此外，该图3A中还示出了农业植保无人机的飞行路线(折线)。
图3B是示出了根据本公开一个实施例的在农业植保无人机的作业过程中获取的飞行记录详情的示意图。如图3B所示，所获取的记录详情可以包括作业编号、飞行记录编号、飞行模式、地理位置、作业地块、作业面积、用药量和药剂类型等信息。
在步骤S120，获取农业植保无人机作业所需的农药的农药信息。农药 信息例如可以包括以下一项或更多项：农药的名称、农药的剂型、农药的亩用量、农药的有效成分含量以及农药的包装规格。
在一个实施例中，可以通过图像识别农药的外包装上的图像标识符获取农药信息。例如，该图像标识符可以包括农药的二维码、条形码、数字符号或照片。在本实施例中，可以使用农业植保无人机的控制终端上搭载的摄像头获取上述图像标识符，也可以使用农业植保无人机本身搭载的摄像头获取上述图像标识符，在此不做限定。
在一个实施例中，可以通过射频识别农药的外包装的电子标签获取农药信息。例如，该电子标签可以包括RFID标签或NFC标签。能够进行射频识别的电子阅读器可以是农业植保无人机的控制终端上携带的电子阅读器，也可以是无人飞行器本身搭载的电子阅读器，在此不做限定。
在一个实施例中，农药信息可以通过用户在农业植保无人机的控制终端上手动输入。例如，用户可以在具有显示功能的电子移动设备上进行手动输入，用户输入的农药信息可以是一项也可以是多项。当然，在其他实施例中，农药信息的获取可以通过图像识别获取或者射频识别获取后，再由用户手动输入或者修改有明显错误的农药信息。或者在另一实施例中，可以先由用户手动输入农药信息后再经过图像识别获取或者射频识别获取，以此来提高农药信息获取的准确性。
图3C是示出了根据本公开一个实施例的获取的农药信息的示意图。如图3C所示，“农药详情”界面中显示了所获取的农药信息，包括产品名称、农药名称、剂型、规格和含量。应当注意，所获取的农药信息不限于图3C所示的具体示例，还可以包括其他与农药有关的信息，例如农药的亩用量等。
在步骤S130，根据作业信息和农药信息，确定完成农业植保无人机作业实际使用的农药总量。
在一个实施例中，可以根据作业信息确定农业植保无人飞行器的实际作业亩数。例如，实际作业亩数S可以计算如下：
S＝v*t*W                 (1)
在上式(1)中，v代表无人机的飞行速度，t代表无人机的飞行时长，而W代表无人机的喷幅宽度。在实际作业过程中，飞行高度可能会影响喷幅宽度，因此可以根据飞行高度来调整喷幅宽度的值。
或者，实际作业亩数S可以计算如下：
S＝L*W                   (2)
在上式(2)中，L代表无人机的飞行距离，而W代表无人机的喷幅宽度。同样，在实际作业过程中，飞行高度可能会影响喷幅宽度，因此可以根据飞行高度来调整喷幅宽度的值。
在一个实施例中，可以根据获取的喷头流量和实际作业亩数来确定完成农业植保无人机作业实际使用的农药总量。这里，喷头流量是指单位面积(亩)的农药喷洒量。因此，将喷头流量与实际作业面积(亩数)相乘，可以获得实际使用的农药总量。
在一个实施例中，可以根据获取的喷头流速和作业时长来确定完成农业植保无人机作业实际使用的农药总量。这里，喷头流速是指单位时间的喷洒量。因此，将喷头流速与作业时长相乘，可以获得实际使用的农药总量。
在一个实施例中，可以根据农业植保无人机作业实际使用的农药总量以及农药信息，确定实际使用的农药瓶数。进一步地，可以根据实际使用的农药瓶数来生成补贴指令。该补贴指令可以向用户的控制终端发送，以便能够将补贴数额直接体现在用户的控制终端上。
图2是示出了根据本公开一个实施例的农业植保无人机的控制方法的流程图。
如图2所示，在步骤S210，获取农业植保无人机的作业信息。例如，作业信息可以包括以下一项或更多项：作业的名称、作业的地块信息、作业的面积信息、以及作业物的种类信息。
在一个实施例中，作业信息可以在作业前通过农业植保无人机的控制终端预先确定。例如，作业信息可以由用户在农业植保无人机的控制终端上手动输入。这种情况的一个示例包括：在用户第一次对某个地块执行作业时，可以在控制终端上输入该地块的作业信息。
图3D是示出了根据本公开一个实施例的作业信息输入的示意图。如图3D所示，作业信息可以由用户在控制终端上输入。具体地，在“新建任务”界面中，用户可以输入作业的开始时间、作业的任务名称、作业的地块信息、作业的面积信息、地理位置、详细地址、预估面积和作物种类等信息。用户不必输入所有这些信息。例如，可以不输入任务名称或地理位置等信 息。
在一个实施例中，作业信息可以由用户从控制终端中存储的历史作业信息中选择。例如，如果对某个地块已经执行了一次或更多次的作业，那么用户可以从存储的历史数据中选择与本次的作业操作有关的信息。
在一个实施例中，作业信息还可以包括在农业植保无人机作业过程中获取的作业信息。例如，获取的作业信息可以包括以下一项或多项：作业速度、作业时长、无人机的喷幅宽度、作业距离、无人机的飞行高度、喷头流速以及喷头流量。
在步骤S220，获取农业植保无人机作业所需的农药的农药信息。例如，农药信息可以包括以下一项或更多项：农药的数量、农药的名称、农药的剂型、农药的规格以及农药的有效成分含量。
在一个实施例中，可以通过图像识别农药的外包装上的图像标识符获取农药信息。例如，该图像标识符可以包括农药的二维码、条形码、数字符号或照片。
在一个实施例中，可以通过射频识别农药的外包装的电子标签获取农药信息。例如，该电子标签可以包括RFID标签或NFC标签。
在一个实施例中，农药信息可以通过用户在农业植保无人机的控制终端上手动输入。
在步骤S230，将作业信息和农药信息进行匹配，并根据匹配情况对农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对农业植保无人机的控制。
在一个实施例中，将作业信息中的作业面积与农药信息中的农药数量进行匹配，并根据作业面积向用户反馈推荐的农药数量使用区间。进一步地，如果之前在步骤S210中从农业植保无人机作业过程中获取作业信息，则可以根据所获取的作业过程中的作业信息来计算作业过程中使用的农药数量，并将作业过程中使用的农药数量与推荐的农药数量使用区间进行比较。
在一个实施例中，当作业过程中使用的农药数量大于或小于推荐的农药数量使用区间时，可以向用户发出提示信息。该提示信息可以包括声音提示、显示界面提示或闪灯报警。
在一个实施例中，当作业过程中使用的农药数量大于或小于推荐的农 药数量使用区间时，可以对农业植保无人机的作业进行自动控制。例如，该自动控制可以包括：自动调整无人机的飞行速度和/或自动调整无人机的喷头流速。
在一个实施例中，可以将作业信息中的作业面积与农药信息中的农药数量进行匹配，并根据获取的农药数量向用户反馈推荐的作业面积。例如，再次参考图3A，其中所获取的作业信息包括农业植保无人机的飞行小时、喷洒流量、相对作业高度、行距以及速度等信息。此外，再次参考图3B所示的农业植保无人机的飞行记录详情。可以看出，图3B所示的“作业面积”是1.7亩。那么，可以根据该次作业(1.7亩的农药喷洒)所使用的农药数(用药量)来计算每亩消耗的农药数量。然后，将获取的农药数量除以每亩消耗的农药数量，计算得到推荐的作业面积并将其反馈给用户。
图4是示出了根据本公开一个实施例的农业植保无人机的框图。图5是示出了根据本公开一个实施例的农业植保无人机的示意图。如图4所示，农业植保无人机40包括动力装置410、喷洒系统420、通信装置430和飞行控制器440。
动力装置410用于给无人机40提供飞行动力。例如，动力装置410可以包括推进单元，用于产生推进无人机40的升力使得无人机40能够在三维空间内飞行。推进单元的一个示例可以包括一个或更多个旋翼。无人机40可以能够沿着一个、两个或三个轴线进行空间平移，这些轴线可以彼此正交。例如，这些轴线可以包括俯仰轴、偏航轴和/或横滚轴。无人机40也可以围绕一个、两个或三个轴线旋转，这些轴线可以彼此正交。例如，这些轴线可以是俯仰轴、偏航轴和/或横滚轴。
在一个实施例中，无人机40可以具有中心体，所述中心体具有从中心体延伸的一个或多个臂或分支。臂可以从中心体横向地或径向地延伸。臂可以相对于中心体是可移动的，或可以相对于中心体是固定的。这些臂可以支撑一个或多个推进单元。例如，每个臂可以支撑一个、两个或更多个推进单元。
喷洒系统420用于执行农业植保无人机的喷洒作业。例如，喷洒系统420可以包括用于装载农药的容器、用于喷洒农药的喷嘴以及配套的连接件等。
通信装置430用于与农业植保无人机的控制终端通信连接。农业植保无人机和控制终端之间的通信可以是无线通信。例如，可以在农业植保无人机和控制终端之间提供直接通信，而无需任何中间装置或网络。备选地，还可以在农业植保无人机和控制终端之间提供间接通信。间接通信可以借助于一个或多个中间装置或网络来进行。例如，间接通信可以利用电信网络。可以借助于一个或多个路由器、通信塔、卫星或任何其他中间装置或网络来执行间接通信。
通信类型的示例可以包括但不限于：经由互联网的通信、局域网(LAN)、广域网(WAN)、蓝牙、近场通信(NFC)技术、基于移动数据协议(诸如通用分组无线业务(GPRS)、GSM、增强型数据GSM环境(EDGE)、3G、4G或长期演进(LTE)协议)的网络、红外(IR)通信技术和/或Wi-Fi，且可以是无线的、有线的或其组合。
控制终端可以是任何类型的外部装置。控制终端的示例可以包括但不限于智能手机/手机、平板电脑、个人数字助理(PDA)、膝上型计算机、台式计算机、媒体内容播放器、视频游戏站/系统、虚拟现实系统、增强现实系统、可穿戴装置(例如，头戴式设备(HMD)、手势识别装置、麦克风、能够提供或呈现图像数据的任何电子设备或任何其他类型装置。控制终端可以是手持式物体。在一些情况下，控制终端可以位于远离用户的位置，并且用户可以使用无线和/或有线通信来与控制终端进行通信。
控制终端可以包括一个或多个存储器存储设备，其包括含有用于执行一个或多个动作的代码、逻辑或指令的非暂时性计算机可读介质。控制终端可以包括能够执行非暂时性计算机可读介质中的代码的一个或多个处理器。控制终端可以包括通信单元，其可以允许与农业植保无人机进行通信。在一些情况下，通信单元可以包括单个通信模块或多个通信模块。在一些情况下，控制终端可以能够使用单个通信链路或多个不同类型的通信链路与农业植保无人机进行交互。
控制终端可以包括显示器(或显示装置)。显示器可以是屏幕。显示器可以是触摸屏。显示器的示例包括发光二极管(LED)屏幕、OLED屏幕、液晶显示器(LCD)屏幕、等离子屏幕或任何其他类型的屏幕。显示器可以被配置为显示图形用户界面(GUI)。GUI可以示出可以允许用户控制农 业植保无人机的动作的图像。在一些情况下，用户可以从该图像选择目标。目标可以是静止目标或移动目标。在其他情况下，用户可以从该图像选择行进的方向。用户可以选择图像的一部分(例如，点、区域和/或对象)以定义农业植保无人机的飞行目标和/或方向。
用户可以触摸屏幕的一部分。用户可以通过触摸屏幕上的点来触摸屏幕的一部分。备选地，用户可以从预先存在的一组区域选择屏幕上的区域，或可以绘制区域的边界、区域的直径或以任何其他方式指定屏幕的一部分。用户可以通过借助于用户交互设备(例如，鼠标、操纵杆、键盘、轨迹球、触摸板、按钮、口头命令、手势识别、姿态传感器、热传感器、触摸电容式传感器或任何其他装置)选择图像的一部分来选择农业植保无人机的飞行目标和/或方向。触摸屏可以被配置为检测用户的触摸的位置、触摸的长度、触摸的压力和/或触摸运动，由此每个上述的触摸方式可以指示来自用户的特定输入命令。
飞行控制器440与动力装置410、喷洒系统420和通信装置430连接，用于控制这些组件的操作。飞行控制器440可以包括一个或多个存储器存储设备，其包括含有用于执行一个或多个动作的代码、逻辑或指令的非暂时性计算机可读介质。飞行控制器440可以包括能够执行非暂时性计算机可读介质中的代码的一个或多个处理器。
飞行控制器440可以被配置为执行上文结合附图1和附图2描述的本公开的方法。例如，
在一个实施例中，飞行控制器440可以被配置为：获取农业植保无人机40的作业信息；获取农业植保无人机40作业所需的农药的农药信息；以及根据作业信息和农药信息，确定完成农业植保无人机40作业实际使用的农药总量。
在一个实施例中，飞行控制器440可以被配置为：获取农业植保无人机40的作业信息；获取农业植保无人机40作业所需的农药的农药信息；以及将作业信息和农药信息进行匹配，并根据匹配情况对农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对农业植保无人机40的控制。
上述方法中的细节已经在上文中进行了详细描述，因此这里不再重复。
采用本公开的技术方案，可以针对农业植保无人机的作业进行更加精细的农业数据分析，提高农药的使用效率，从而改进了农业作业的过程。
此外，本公开的实施例可以借助于计算机程序产品来实现。例如，该计算机程序产品可以是计算机可读存储介质。计算机可读存储介质上存储有计算机程序，当在计算设备上执行该计算机程序时，能够执行相关的操作以实现本公开的上述技术方案。
例如，图6是示出了根据本公开一个实施例的计算机可读存储介质60的框图。如图6所示，计算机可读存储介质60包括计算机程序610。计算机程序610在由至少一个处理器运行时，使得至少一个处理器执行例如根据图1或图2所描述的方法的各个步骤。由于上文已经对图1和图2所示的方法进行了详细描述，此处不再重复。
本领域技术人员可以理解，计算机可读存储介质60的示例包括但不限于：半导体存储介质、光学存储介质、磁性存储介质、或任何其他形式的计算机可读存储介质。
上文已经结合优选实施例对本公开的方法和涉及的设备进行了描述。本领域技术人员可以理解，上面示出的方法仅是示例性的。本公开的方法并不局限于上面示出的步骤和顺序。
应该理解，本公开的上述实施例可以通过软件、硬件或者软件和硬件两者的结合来实现。本公开的这种设置典型地提供为设置或编码在例如光介质(例如CD-ROM)、软盘或硬盘等的计算机可读介质上的软件、代码和/或其他数据结构、或者诸如一个或多个ROM或RAM或PROM芯片上的固件或微代码的其他介质、或一个或多个模块中的可下载的软件图像、共享数据库等。软件或固件或这种配置可安装在计算设备上，以使得计算设备中的一个或多个处理器执行本公开实施例所描述的技术方案。
此外，上述每个实施例中所使用的设备的每个功能模块或各个特征可以由电路实现或执行，所述电路通常为一个或多个集成电路。设计用于执行本说明书中所描述的各个功能的电路可以包括通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)或通用集成电路、现场可编程门阵列(FPGA)或其他可编程逻辑器件、分立的门或晶体管逻辑、或分立的硬件组件、或以上器件的任意组合。通用处理器可以是微处理器，或者所述处理器可以是现有的处理器、控制器、微控制器或状态机。上述通用处理器 或每个电路可以由数字电路配置，或者可以由逻辑电路配置。此外，当由于半导体技术的进步，出现了能够替代目前的集成电路的先进技术时，本公开也可以使用利用该先进技术得到的集成电路。
运行在根据本公开的设备上的程序可以是通过控制中央处理单元(CPU)来使计算机实现本公开的实施例功能的程序。该程序或由该程序处理的信息可以临时存储在易失性存储器(如随机存取存储器RAM)、硬盘驱动器(HDD)、非易失性存储器(如闪速存储器)、或其他存储器系统中。用于实现本公开各实施例功能的程序可以记录在计算机可读记录介质上。可以通过使计算机系统读取记录在所述记录介质上的程序并执行这些程序来实现相应的功能。此处的所谓“计算机系统”可以是嵌入在该设备中的计算机系统，可以包括操作系统或硬件(如外围设备)。
如上，已经参考附图对本公开的实施例进行了详细描述。但是，具体的结构并不局限于上述实施例，本公开也包括不偏离本公开主旨的任何设计改动。另外，可以在权利要求的范围内对本公开的记载进行多种改动，通过适当地组合不同实施例所公开的技术手段所得到的实施例也包含在本公开的技术范围内。此外，上述实施例中所描述的具有相同效果的组件可以相互替代。

Claims (39)

  1. 一种农业植保无人机的控制方法，其特征在于，包括：
    获取农业植保无人机的作业信息；
    获取农业植保无人机作业所需的农药的农药信息；以及
    将所述作业信息和所述农药信息进行匹配，并根据匹配情况对所述农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对所述农业植保无人机的控制。
  2. 根据权利要求1所述的方法，其特征在于，所述作业信息包括以下一项或更多项：作业的名称、作业的地块信息、作业的面积信息、以及作业物的种类信息。
  3. 根据权利要求2所述的方法，其特征在于，所述作业信息是在作业前通过所述农业植保无人机的控制终端预先确定的。
  4. 根据权利要求3所述的方法，其特征在于，所述作业信息由用户在所述农业植保无人机的控制终端上手动输入。
  5. 根据权利要求3所述的方法，其特征在于，所述作业信息由用户从所述控制终端中存储的历史作业信息中选择。
  6. 根据权利要求3至5中任一项所述的方法，其特征在于，将所述作业信息中的作业面积与所述农药信息中的农药数量进行匹配，并根据所述作业面积向用户反馈推荐的农药数量使用区间。
  7. 根据权利要求6所述的方法，其特征在于，所述作业信息还包括在所述农业植保无人机作业过程中获取的作业信息，所述作业过程中获取的作业信息包括以下一项或多项：作业速度、作业时长、无人机的喷幅宽度、作业距离、无人机的飞行高度、喷头流速以及喷头流量。
  8. 根据权利要求7所述的方法，其特征在于，根据所述作业过程中的作业信息计算作业过程中使用的农药数量，并将所述作业过程中使用的农药数量与所述推荐的农药数量使用区间进行比较。
  9. 根据权利要求8所述的方法，其特征在于，当所述作业过程中使用的农药数量大于或小于推荐的农药数量使用区间时，向用户发出提示信息。
  10. 根据权利要求9所述的方法，其特征在于，所述提示信息包括：声 音提示、显示界面提示或闪灯报警。
  11. 根据权利要求8所述的方法，其特征在于，当所述作业过程中使用的农药数量大于或小于推荐的农药数量使用区间时，对所述农业植保无人机的作业进行自动控制。
  12. 根据权利要求11所述的方法，其特征在于，所述自动控制包括：
    自动调整无人机的飞行速度；和/或
    自动调整无人机的喷头流速。
  13. 根据权利要求1所述的方法，其特征在于，所述农药信息包括以下一项或更多项：农药的数量、农药的名称、农药的剂型、农药的规格以及农药的有效成分含量。
  14. 根据权利要求13所述的方法，其特征在于，所述农药信息通过图像识别农药的外包装上的图像标识符获取。
  15. 根据权利要求14所述的方法，其特征在于，所述图像标识符包括以下一项或更多项：二维码、条形码、数字符号、照片。
  16. 根据权利要求13所述的方法，其特征在于，所述农药信息通过射频识别农药的外包装的电子标签获取。
  17. 根据权利要求16所述的方法，其特征在于，所述电子标签包括以下一项或更多项：RFID标签、NFC标签。
  18. 根据权利要求13所述的方法，其特征在于，所述农药信息由用户在所述农业植保无人机的控制终端上手动输入。
  19. 根据权利要求13至18中任一项所述的方法，其特征在于，将所述作业信息中的作业面积与所述农药信息中的农药数量进行匹配，并根据获取的农药数量向用户反馈推荐的作业面积。
  20. 一种农业植保无人机，其特征在于，包括：
    动力装置，用于给所述农业植保无人机提供飞行动力；
    喷洒系统，用于执行所述农业植保无人机的喷洒作业；
    飞行控制器，与所述动力装置和所述喷洒系统电连接，用于控制所述动力装置和所述喷洒系统；
    通信装置，用于与所述农业植保无人机的控制终端通信连接，所述通信装置与所述无人机电连接；其中，
    所述飞行控制器被配置为：
    获取农业植保无人机的作业信息；
    获取农业植保无人机作业所需的农药的农药信息；以及
    将所述作业信息和所述农药信息进行匹配，并根据匹配情况对所述农业植保无人机的作业进行反馈，以使用户在获得反馈后及时调整对所述农业植保无人机的控制。
  21. 根据权利要求20所述的农业植保无人机，其特征在于，所述作业信息包括以下一项或更多项：作业的名称、作业的地块信息、作业的面积信息、以及作业物的种类信息。
  22. 根据权利要求21所述的农业植保无人机，其特征在于，所述作业信息是在作业前通过所述农业植保无人机的控制终端预先确定的。
  23. 根据权利要求22所述的农业植保无人机，其特征在于，所述作业信息由用户在所述农业植保无人机的控制终端上手动输入。
  24. 根据权利要求22所述的农业植保无人机，其特征在于，所述作业信息由用户从所述控制终端中存储的历史作业信息中选择。
  25. 根据权利要求22至24中任一项所述的农业植保无人机，其特征在于，所述飞行控制器被配置为：将所述作业信息中的作业面积与所述农药信息中的农药数量进行匹配，并根据所述作业面积向用户反馈推荐的农药数量使用区间。
  26. 根据权利要求25所述的农业植保无人机，其特征在于，所述作业信息还包括在所述农业植保无人机作业过程中获取的作业信息，所述作业过程中获取的作业信息包括以下一项或多项：作业速度、作业时长、无人机的喷幅宽度、作业距离、无人机的飞行高度、喷头流速以及喷头流量。
  27. 根据权利要求26所述的农业植保无人机，其特征在于，所述飞行控制器被配置为：根据所述作业过程中的作业信息计算作业过程中使用的农药数量，并将所述作业过程中使用的农药数量与所述推荐的农药数量使用区间进行比较。
  28. 根据权利要求27所述的农业植保无人机，其特征在于，所述飞行控制器被配置为：当所述作业过程中使用的农药数量大于或小于推荐的农药数量使用区间时，向用户发出提示信息。
  29. 根据权利要求28所述的农业植保无人机，其特征在于，所述提示信息包括：声音提示、显示界面提示或闪灯报警。
  30. 根据权利要求27所述的农业植保无人机，其特征在于，所述飞行控制器被配置为：当所述作业过程中使用的农药数量大于或小于推荐的农药数量使用区间时，对所述农业植保无人机的作业进行自动控制。
  31. 根据权利要求30所述的农业植保无人机，其特征在于，所述自动控制包括：
    自动调整无人机的飞行速度；和/或
    自动调整无人机的喷头流速。
  32. 根据权利要求20所述的农业植保无人机，其特征在于，所述农药信息包括以下一项或更多项：农药的数量、农药的名称、农药的剂型、农药的规格以及农药的有效成分含量。
  33. 根据权利要求32所述的农业植保无人机，其特征在于，所述农药信息通过图像识别农药的外包装上的图像标识符获取。
  34. 根据权利要求33所述的农业植保无人机，其特征在于，所述图像标识符包括以下一项或更多项：二维码、条形码、数字符号、照片。
  35. 根据权利要求32所述的农业植保无人机，其特征在于，所述农药信息通过射频识别农药的外包装的电子标签获取。
  36. 根据权利要求35所述的农业植保无人机，其特征在于，所述电子标签包括以下一项或更多项：RFID标签、NFC标签。
  37. 根据权利要求32所述的农业植保无人机，其特征在于，所述农药信息由用户在所述农业植保无人机的控制终端上手动输入。
  38. 根据权利要求32至37中任一项所述的农业植保无人机，其特征在于，所述飞行控制器被配置为：将所述作业信息中的作业面积与所述农药信息中的农药数量进行匹配，并根据获取的农药数量向用户反馈推荐的作业面积。
  39. 一种计算机可读存储介质，存储有计算机程序，当所述计算机程序由至少一个处理器运行时，使所述至少一个处理器执行根据权利要求1-19中任一项所述的方法。
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