WO2022061805A1 - 喷洒作业控制方法、装置、存储介质及农业无人飞行器 - Google Patents

喷洒作业控制方法、装置、存储介质及农业无人飞行器 Download PDF

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Publication number
WO2022061805A1
WO2022061805A1 PCT/CN2020/118081 CN2020118081W WO2022061805A1 WO 2022061805 A1 WO2022061805 A1 WO 2022061805A1 CN 2020118081 W CN2020118081 W CN 2020118081W WO 2022061805 A1 WO2022061805 A1 WO 2022061805A1
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WIPO (PCT)
Prior art keywords
inclination angle
unmanned aerial
aerial vehicle
propeller
flight
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PCT/CN2020/118081
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English (en)
French (fr)
Inventor
周乐
舒展
王博
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/118081 priority Critical patent/WO2022061805A1/zh
Priority to CN202080033497.0A priority patent/CN114555466A/zh
Publication of WO2022061805A1 publication Critical patent/WO2022061805A1/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

Definitions

  • the present application relates to the technical field of spraying operations, and in particular, to a spraying operation control method, device, storage medium and agricultural unmanned aerial vehicle.
  • the plant protection drones all use the wind field and the nozzle layout to control the spray width of the plant protection machine, and generally use the S-shaped route for spraying operations, so that at the first-class turnaround of the route, it is necessary to decelerate and then accelerate.
  • the embodiments of the present application propose a spraying operation control method, device, storage medium and agricultural unmanned aerial vehicle, which can effectively avoid the problems of missed spraying and heavy spraying due to changes in flight speed, and improve the operation quality of agricultural unmanned aerial vehicles.
  • the embodiment of the present application discloses a spraying operation control method, wherein the method is applied to an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of spray heads, and at least one of the propellers is arranged below each propeller.
  • the nozzle the method includes:
  • the spray width formed by the agricultural unmanned aerial vehicle in the flight state is a preset spray width ;
  • the spraying operation is performed based on the adjusted inclination angle of each of the propellers.
  • the embodiment of the present application discloses a spraying operation control device, which is applied to an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of spray heads, and at least one of the spray heads is arranged under each of the propellers,
  • the device includes:
  • a processor and a memory the memory for storing instructions, the processor calling the instructions stored in the memory for implementing the following operations:
  • the spray width formed by the agricultural unmanned aerial vehicle in the flight state is a preset spray width
  • the spraying operation is performed based on the adjusted inclination angle of each of the propellers.
  • the embodiment of the present application discloses a computer-readable storage medium, which includes instructions, which, when executed on a computer, cause the computer to execute the above method.
  • the embodiment of the present application discloses a spraying operation control device, which is applied to an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of spray heads, and at least one of the spray heads is arranged under each of the propellers,
  • the device includes:
  • the acquisition module is used to acquire the flight state parameters of the agricultural unmanned aerial vehicle
  • a determination module configured to determine the target inclination angle corresponding to each of the propellers according to the flight state parameters; wherein, under the target inclination angle, the spray pattern formed by the agricultural unmanned aerial vehicle in the flight state is: preset spray width;
  • an adjustment module for adjusting the inclination angle of each of the propellers according to the target inclination angle
  • the operation module is used for spraying operation based on the adjusted inclination angle of each of the propellers.
  • the embodiment of the present application discloses an assembly, which includes a machine arm, a propeller and a spray head, the propeller is arranged on the machine arm, the propeller can be tilted relative to the machine arm, and the spray head is arranged on the machine arm. the bottom of the arm.
  • the embodiment of the present application discloses an agricultural unmanned aerial vehicle, which includes the above-mentioned spraying operation control device.
  • the nozzles are first arranged under the propeller, and then the flight state parameters of the agricultural unmanned aerial vehicle are obtained when the spraying operation is required; the target inclination angle corresponding to each propeller is determined according to the flight state parameters; wherein , under the target inclination angle, the spray width formed by the agricultural unmanned aerial vehicle in the flying state is the preset spray width; then according to the target inclination angle, adjust the propeller, and finally carry out the spraying operation based on the adjusted inclination angle of the propeller .
  • the agricultural unmanned aerial vehicle uses the wind field pressure of the propeller, so that each nozzle can form the spray pattern in the current flight state as the preset spray pattern spray effect, that is, in the embodiment of the present application, according to the flight state
  • the formed spray patterns are all preset spray patterns, which ensures the stability of the spray pattern and can effectively avoid the occurrence of missed spray and heavy spray due to changes in flight speed. problem, and improve the operation quality of agricultural unmanned aerial vehicles.
  • FIG. 1 is a schematic flowchart of a spraying operation control method provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a flight attitude adjustment mechanism of an agricultural unmanned aerial vehicle provided by an embodiment of the present application
  • Fig. 3 is the schematic diagram of the operation route of the agricultural unmanned aerial vehicle in the embodiment of the present application.
  • Fig. 4 is the schematic diagram of the flight attitude change of the agricultural unmanned aerial vehicle of the embodiment of the present application.
  • FIG. 5 is a schematic diagram of the spraying area formed by the agricultural unmanned aerial vehicle of the embodiment of the present application under the flying attitude A;
  • FIG. 6 is a schematic diagram of the spraying area formed by the agricultural unmanned aerial vehicle of the embodiment of the present application under the flying attitude B;
  • FIG. 7 is a schematic structural diagram of a spraying operation control device provided by an embodiment of the present application.
  • the spraying operation control method provided in the embodiment of the present application can be applied to the technical field of spraying operation.
  • agricultural unmanned aerial vehicles use wind fields and sprinkler layouts to control the spraying width of agricultural unmanned aerial vehicles, and generally use S-type routes for spraying operations, so that in the air routes, etc.
  • the pressure of the wind field tends to fluctuate, causing the spray width to change, which in turn leads to leakage and heavy spray.
  • the embodiment of the present application provides a spraying operation control method, which is applied to an agricultural unmanned aerial vehicle.
  • the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of nozzles, and at least one of the above-mentioned nozzles is arranged under each of the above-mentioned propellers, wherein, please refer to FIG. 1, showing a schematic flowchart of the spraying operation control method provided by the embodiment of the present application.
  • the spraying operation control method provided by the embodiment of the present application includes S100 to S400.
  • the above-mentioned agricultural unmanned aerial vehicle may be a plant protection unmanned aerial vehicle.
  • the current flight state parameters of the agricultural unmanned aerial vehicle are obtained first.
  • the above flight state parameters refer to parameters related to the flight state of the agricultural unmanned aerial vehicle.
  • the flight state parameters may be parameters related to the flight state of the agricultural unmanned aerial vehicle, such as flight speed, flight height, etc., which can affect the spray width of the unmanned aerial vehicle.
  • the inclination angle is the angle between the plane where the propeller rotates and the horizontal direction, that is, the complementary angle of the power angle;
  • the above-mentioned preset spray width is a preset spray width value, exemplarily, the spray width can be agricultural The width of the spray area formed in the flight direction of the UAV.
  • the target inclination angle corresponding to each propeller is determined, so that a plurality of nozzles arranged under the propellers perform wind field pressure on the nozzles at the corresponding target inclination angle at each propeller.
  • the width of the formed spray area is just the preset spray width.
  • the spray width formed by the agricultural unmanned aerial vehicle in the flying state is a preset spray width, and uniform spraying is performed in the spraying area. That is to say, according to the current flight state parameters of the agricultural unmanned aerial vehicle, the target inclination angle corresponding to each propeller is determined, so that not only the multiple nozzles arranged under the propellers, but also the corresponding target inclination angles of each propeller are used to conduct the wind field on the nozzles.
  • the width of the formed spraying area is just the preset spray width, and the corresponding spraying area can be sprayed evenly, which further improves the quality of the spraying operation.
  • each propeller is adjusted, until each propeller is in the inclination state corresponding to the target inclination angle, so that each propeller can be set according to its corresponding target inclination angle.
  • the wind field pressure is applied to the nozzles it sends out.
  • the agricultural unmanned aerial vehicle uses the wind field pressure of the propeller, so that each nozzle can form the spray width as the preset spray width in the current flight state, so the preset spray width is unchanged.
  • the spraying operation is performed based on the adjusted inclination angle of the propeller, the formed spray width can be maintained in the preset spray width state.
  • the nozzles are arranged under the propeller, and then the flight state parameters of the agricultural unmanned aerial vehicle are acquired when the spraying operation is required; according to the flight state parameters, the corresponding The target inclination angle; wherein, under the target inclination angle, the spray width formed by the agricultural unmanned aerial vehicle in the flight state is the preset spray width; then according to the target inclination angle, adjust the propeller, and finally based on the adjusted propeller Spray at an inclined angle.
  • the agricultural unmanned aerial vehicle uses the wind field pressure of the propeller, so that each nozzle can form the spray pattern in the current flight state as the preset spray pattern spray effect, that is, in the embodiment of the present application, according to the flight state
  • the formed spray patterns are all preset spray patterns, which ensures the stability of the spray pattern and can effectively avoid the occurrence of missed spray and heavy spray due to changes in flight speed. problem, and improve the operation quality of agricultural unmanned aerial vehicles.
  • the spray heads may be uniformly or unevenly arranged under the propeller, and one or more spray heads may be arranged under each of the propellers.
  • the target inclination angles of the propellers on both sides of the axis of the flight direction of the agricultural unmanned aerial vehicle are the same and opposite, that is, the inclination angles of the propellers are adjusted symmetrically, so that the width of the spraying area formed on both sides of the agricultural unmanned aerial vehicle is wide.
  • the same in order to better perform the spraying effect, and avoid the situation of missed spraying or heavy spraying due to the difference between the spraying widths on both sides of the agricultural unmanned aerial vehicle when the total spraying width reaches the preset spraying width.
  • the above-mentioned agricultural unmanned aerial vehicle may be a quad-rotor unmanned aerial vehicle or a six-rotor unmanned aerial vehicle.
  • the target inclination angle of the propeller at the axis of the flight direction of the agricultural unmanned aerial vehicle is 0. Since the propeller in the middle has little influence on the spray width, the tilt adjustment is not performed, that is, the power angle is kept at 90°.
  • the flight state parameter includes a flight speed
  • the target tilt angle is negatively correlated with the flight speed.
  • the flying speed because the smaller the flying speed, the smaller the wind field pressure at the nozzle, resulting in the smaller the spray width.
  • step S200 includes:
  • the numerical relationship between the flight speed and the inclination angle of each propeller is established in advance through experiments and other methods. Preset spray width, the inclination angle state that each propeller needs to be in. Therefore, when the current flight speed of the agricultural unmanned aerial vehicle is obtained, the inclination angle corresponding to each propeller, that is, the above-mentioned target inclination angle, can be quickly determined according to the predetermined numerical relationship.
  • the above-mentioned flight state parameters include a flight speed, a flight height, and a preset spray width; the above-mentioned S200 includes S202-S204.
  • the current flight speed, flight height and preset spray width of the agricultural UAV are obtained first.
  • the preset spray width is adjusted and set by the operator according to the actual use scene.
  • the wind field pressure at the nozzle is related to the rotational speed of the propeller, and the rotational speed of the propeller and the flight speed satisfy the mapping relationship. After the flight speed is determined, combined with fixed values such as the size of the propeller and the distance from the nozzle, the wind field pressure at each nozzle can be calculated.
  • the spraying angle refers to the angle between the spraying direction of the spraying liquid and the vertical direction after the spraying liquid is ejected from the nozzle, because the spray width is affected by the wind field pressure, the flying height and the spraying liquid from the nozzle.
  • the spraying angle of the nozzles after spraying is determined, so after the wind field pressure, flying height and preset spraying width are determined, the required spraying angle of each nozzle can be calculated.
  • the spraying angle is the angle between the spraying direction of the spraying liquid and the vertical direction after the spraying liquid is ejected from the nozzle, and the spraying angle is consistent with the direction of the wind field pressure by the spraying direction of the spraying liquid, the wind field pressure The direction is controlled by the inclination angle of the corresponding propeller, so after the spraying angle corresponding to each nozzle is determined, the inclination angle state that the corresponding propeller needs to be in can be calculated.
  • the target inclination angle required by each propeller when the spray width formed by the agricultural unmanned aerial vehicle in the current flight state is the preset spray width is calculated, so as to realize dynamic adjustment according to the actual scene.
  • the foregoing S200 further includes S205.
  • the above-mentioned upper limit value of the speed is the maximum speed value for the agricultural unmanned aerial vehicle to perform the spraying action. Because when the flight speed of the agricultural unmanned aerial vehicle reaches the upper limit value of the speed, the wind field pressure on the sprinkler also reaches the upper limit value of the wind field pressure.
  • the spraying angle of the liquid to both sides is the smallest, that is, it is necessary to control the spraying liquid to spray vertically downward, and in order to make the spraying liquid spray vertically downward, the wind field pressure needs to be directed vertically downward, so the target of each propeller is controlled to be tilted downward.
  • the angle is adjusted to 0, that is, the rotation plane of each propeller is in a horizontal state, so that when the agricultural UAV reaches the upper speed limit and flies at a constant speed, the power angle of the propeller is 90°.
  • the spraying action control method provided in the embodiment of the present application further includes S301 after S300.
  • the spray angle of the spray head refers to the angle between the direction in which the spray head sprays the spray liquid and the vertical direction.
  • the direction in which the spray head sprays the spray liquid is synchronously adjusted, so that the angle at which the spray head sprays the spray liquid can match the pressure of the wind field.
  • the spraying angle of the spray head is the same as the inclination angle of the corresponding propeller.
  • the spraying angle of the nozzle is adjusted, that is, how many degrees is the inclination angle of the propeller, and how much is the spraying angle of the nozzle adjusted, so that the force of the nozzle spraying the spraying liquid can match the wind field.
  • the pressure coincides to achieve the effect of expanding the spray width.
  • a motor and an electric servo are installed on the arm of the agricultural unmanned aerial vehicle; the motor is used to drive the propeller to rotate relative to the installation base; and the electric servo can use worms, gears and other transmission methods and the installation of the propeller
  • the base is driven to drive the installation base to adjust the inclination angle relative to the arm through the electric servo, and then drive the propeller to adjust the inclination angle relative to the arm; at the same time, the nozzle is arranged below the propeller, so the adjustment of the propeller inclination angle can affect the Variation in spray pattern created by agricultural unmanned aerial vehicles.
  • the tilt adjustment may not be performed, so for the axis of the flight direction of the agricultural unmanned aerial vehicle
  • the propeller does not correspond to the setting of the electric servo.
  • FIG. 2 taking a 6-axis plant protection drone as an example, a schematic diagram of the flight attitude adjustment mechanism of the agricultural unmanned aerial vehicle is shown.
  • the straight line where the motor M1 and the motor M4 are located is the flight direction axis of the agricultural UAV.
  • each electric servo Q is used to drive the corresponding propellers to adjust the inclination angle, so as to maintain the spray pattern formed by the agricultural unmanned aerial vehicle as Preset spray pattern.
  • the operation route of its agricultural unmanned aerial vehicle is shown in FIG.
  • the uniform speed section b in the middle area and the deceleration section c from the middle area into the turnaround of the headland are S-shaped as a whole.
  • FIG. 4 shows a schematic diagram of the change of the flight attitude of the agricultural unmanned aerial vehicle during the spraying operation.
  • the agricultural UAV starts to take off, and its flight attitude is shown in attitude A, and the formed spraying area is shown in Figure 5; and with the increase of the flight speed, the control of the propeller
  • the power angle ⁇ gradually increases, the inclination angle gradually decreases, and the spray width continues to become smaller, so as to hedge the spray width caused by acceleration and ensure the spray width is stable;
  • the inclination angle of the propeller is reduced to 0, and the beta angle reaches 90 degrees.
  • the agricultural unmanned aerial vehicle maintains a constant speed operation; at the constant speed section b, the inclination of the propeller is kept at 0, that is, the power angle ⁇ is kept at 90 degrees, so that the wind field is always downward, and the formed spray area is shown in Figure 6;
  • the drive servo adjusts the power angle ⁇ of the propeller to gradually decrease from 90 degrees to expand the spray width and supplement the spray caused by deceleration.
  • the spray width can be contracted to ensure the stability of the spray width; among them, when the lower limit of the speed can be set, the power angle of the propeller is 75 degrees, that is, the inclination angle of the propeller is 10 degrees, which can be adjusted according to different application scenarios;
  • the nozzles are first arranged under the propeller, and then the flight state parameters of the agricultural unmanned aerial vehicle are obtained when the spraying operation is required; the target inclination angle corresponding to each propeller is determined according to the flight state parameters; wherein , under the target inclination angle, the spray width formed by the agricultural unmanned aerial vehicle in the flying state is the preset spray width; then according to the target inclination angle, adjust the propeller, and finally carry out the spraying operation based on the adjusted inclination angle of the propeller .
  • the agricultural unmanned aerial vehicle uses the wind field pressure of the propeller, so that each nozzle can form the spray pattern in the current flight state as the preset spray pattern spray effect, that is, in the embodiment of the present application, according to the flight state
  • the formed spray patterns are all preset spray patterns, which ensures the stability of the spray pattern and can effectively avoid the occurrence of missed spray and heavy spray due to changes in flight speed. problem, and improve the operation quality of agricultural unmanned aerial vehicles.
  • the embodiment of the present application also provides a spraying operation control device, which is applied to an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of spray heads, and at least one of the spray heads is arranged under each of the propellers , the device includes:
  • a processor and a memory the memory for storing instructions, the processor calling the instructions stored in the memory for implementing the following operations:
  • the spray width formed by the agricultural unmanned aerial vehicle in the flight state is a preset spray width
  • the spraying operation is performed based on the adjusted inclination angle of each of the propellers.
  • the control device is characterized in that the flight state parameter includes a flight speed, and the target inclination angle is negatively correlated with the flight speed.
  • the processor is further used for:
  • the target inclination angle corresponding to each propeller is determined.
  • the processor is further used for:
  • the spraying angle of the nozzle is controlled to be adjusted synchronously with the inclination angle of the corresponding propeller.
  • the spraying angle of the spraying head is the same as the inclination angle of the corresponding propeller.
  • the processor is specifically used for:
  • the target inclination angle of each of the propellers is adjusted to 0.
  • the flight state parameters include flight speed, flight height and preset spray width
  • the processor is specifically used for:
  • the target inclination angle of the corresponding propeller is determined from the spraying angle of each of the nozzles.
  • the target inclination angles of the propellers on both sides of the axis of the flight direction of the agricultural unmanned aerial vehicle are the same and opposite.
  • the target inclination angle of the propeller at the axis of the flight direction of the agricultural unmanned aerial vehicle is 0.
  • the embodiment of the present application discloses a computer-readable storage medium, which includes instructions, which, when executed on a computer, cause the computer to execute the above method.
  • the embodiment of the present application also provides a spraying operation control device, please refer to FIG. 7 , which shows a schematic structural diagram of the spraying operation control device provided by the embodiment of the present application, wherein the device is applied to an agricultural unmanned aerial vehicle, so
  • the agricultural unmanned aerial vehicle includes a plurality of propellers and a plurality of nozzles, and at least one of the nozzles is arranged below each of the propellers.
  • the device includes:
  • an acquisition module 71 used to acquire the flight state parameters of the agricultural unmanned aerial vehicle
  • a determination module 72 configured to determine the target inclination angle corresponding to each of the propellers according to the flight state parameters; wherein, under the target inclination angle, the spray pattern formed by the agricultural unmanned aerial vehicle in the flight state is the preset spray width;
  • an adjustment module 73 for adjusting the inclination angle of each of the propellers according to the target inclination angle
  • the operation module 74 is used for spraying operation based on the adjusted inclination angle of each of the propellers.
  • the spraying head is firstly arranged under the propeller, and then when the spraying operation is required, the obtaining module 71 obtains the flight state parameters of the agricultural unmanned aerial vehicle; The state parameter determines the target inclination angle corresponding to each propeller; wherein, under the target inclination angle, the spray width formed by the agricultural unmanned aerial vehicle in the flying state is the preset spray width; and then the adjustment module 73 is based on the target inclination angle. , adjust the propeller, and finally the spraying module 74 performs the spraying operation based on the adjusted inclination angle of the propeller.
  • the agricultural unmanned aerial vehicle uses the wind field pressure of the propeller, so that each nozzle can form the spray pattern in the current flight state as the preset spray pattern spray effect, that is, in the embodiment of the present application, according to the flight state
  • the formed spray patterns are all preset spray patterns, which ensures the stability of the spray pattern and can effectively avoid the occurrence of missed spray and heavy spray due to changes in flight speed. problem, and improve the operation quality of agricultural unmanned aerial vehicles.
  • the flight state parameter includes a flight speed
  • the target inclination angle is negatively correlated with the flight speed
  • the determining module 72 is further configured to determine the target inclination angle corresponding to each propeller according to the predetermined numerical relationship between the flight speed and the inclination angle of each propeller. .
  • the adjustment module is further configured to control the spraying angle of the nozzle and the corresponding inclination angle of the propeller to adjust synchronously after adjusting the inclination angle of the propeller according to the target inclination angle.
  • the spraying angle of the spray head is the same as the inclination angle of the corresponding propeller.
  • the determination module 72 is specifically configured to adjust the target inclination angle of each propeller to 0 when the flight speed reaches the upper speed limit value.
  • the flight state parameters include flight speed, flight height and preset spray width
  • the determining module is specifically used for:
  • the target inclination angle of the corresponding propeller is determined from the spraying angle of each of the nozzles.
  • the target inclination angles of the propellers on both sides of the axis of the flight direction of the agricultural unmanned aerial vehicle are the same and opposite.
  • the target inclination angle of the propeller at the axis of the flight direction of the agricultural unmanned aerial vehicle is 0.
  • the embodiment of the present application also provides an assembly, which includes a machine arm, a propeller and a spray head, the propeller is arranged on the machine arm, the propeller can adjust the inclination angle relative to the machine arm, and the spray head is arranged on the machine arm. at the bottom of the arm.
  • the illustrated assembly further includes an electric servo, which is arranged on the arm and is used to drive the propeller to adjust the inclination angle relative to the arm.
  • the electric servo can drive the propeller to adjust the inclination angle relative to the machine arm by using transmission methods such as worms and gears.
  • the embodiments of the present application also provide an agricultural unmanned aerial vehicle, which includes the above-mentioned spraying operation control device.
  • a computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • Computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • Computer instructions may be sent from one website site, computer, server, or data center to another website site, computer, via wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , server or data center for transmission.
  • a computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media.
  • Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

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Abstract

一种喷洒作业控制方法、装置、存储介质及农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个螺旋桨下方设置至少一个喷头，所述方法包括：获取农业无人飞行器的飞行状态参数（S100）；根据飞行状态参数，确定每个螺旋桨对应的目标倾斜角度；其中，目标倾斜角度下，农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅（S200）；根据所述目标倾斜角度，调整螺旋桨的倾斜角度（S300）；基于调整后的螺旋桨的倾斜角度进行喷洒作业（S400）。所述方法根据飞行状态对应调整螺旋桨的倾斜角度，使得在不同的飞行状态下，所形成的喷幅均为预设喷幅，保证了喷幅的稳定性，提高了农业无人飞行器作业质量。

Description

喷洒作业控制方法、装置、存储介质及农业无人飞行器 技术领域
本申请涉及喷洒作业技术领域，特别是涉及一种喷洒作业控制方法、装置、存储介质及农业无人飞行器。
背景技术
当前，植保无人机已在农业、林业等领域得到广泛应用，可以有效降低人力成本、提升喷洒作业效率。
相关技术中，植保无人机均利用风场和喷头布局来控制植保机喷幅，且一般采用S型航线进行喷洒作业，使得在航线地头等折返处，需要先进行减速后再进行加速。
其中，在飞行速度较快时，风场压力较大，使得喷幅扩展较宽，容易出现重喷区域；而在飞行速度较慢时，风压较小，使得喷幅较窄，容易出现漏喷区域。因此，现有的植保无人机，在执行喷洒作业时，容易因飞行速度变化，导致出现漏喷、重喷的情况。
发明内容
本申请实施例提出了一种喷洒作业控制方法、装置、存储介质及农业无人飞行器，能够有效避免因飞行速度变化而出现漏喷、重喷的问题，提高了农业无人飞行器作业质量。
本申请实施例公开了一种喷洒作业控制方法，其中，所述方法应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述方法包括：
获取农业无人飞行器的飞行状态参数；
根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，在所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
本申请实施例公开了一种喷洒作业控制装置，其中，应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述装置包括：
处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的所述指令用于实现以下操作：
获取农业无人飞行器的飞行状态参数；
根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
本申请实施例公开了一种计算机可读存储介质，其中，包括指令，当其在计算机上运行时，使得计算机执行如上所述的方法。
本申请实施例公开了一种喷洒作业控制装置，其中，应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述装置包括：
获取模块，用于获取农业无人飞行器的飞行状态参数；
确定模块，用于根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
调整模块，用于根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
作业模块，用于基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
本申请实施例公开了一种组件，其中，包括机臂、螺旋桨及喷头，所述螺旋桨设置于所述机臂上，所述螺旋桨可相对所述机臂进行倾斜角度调整，所述喷头设置于所述机臂底部。
本申请实施例公开了一种农业无人飞行器，其中，包括如上所述的喷洒作业控制装置。
本申请实施例中，先将喷头布设于所述螺旋桨下方，然后在需要进行喷洒作业时，获取农业无人飞行器的飞行状态参数；根据飞行状态参数，确定每个螺旋桨对应的目标倾斜角度；其中，在目标倾斜角度下，农业无人飞行 器在飞行状态下形成的喷幅为预设喷幅；再根据所述目标倾斜角度，调整所述螺旋桨，最后基于调整后的螺旋桨的倾斜角度进行喷洒作业。因为在目标倾斜角度下，农业无人飞行器通过螺旋桨的风场压力作用，使得各个喷头可以在当前飞行状态下形成喷幅为预设喷幅喷洒效果，也即本申请实施例中，根据飞行状态对应调整螺旋桨的倾斜角度，使得在不同的飞行状态下，所形成的喷幅均为预设喷幅，保证了喷幅的稳定性，能够有效避免因飞行速度变化而出现漏喷、重喷的问题，提高了农业无人飞行器作业质量。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例所提供的喷洒作业控制方法的流程示意图；
图2是本申请实施例提供的农业无人飞行器的飞行姿态调整机构示意图；
图3是本申请实施例中农业无人飞行器的作业航线示意图；
图4是本申请实施例农业无人飞行器的飞行姿态变化示意图；
图5是本申请实施例农业无人飞行器在飞行姿态A下所形成的喷洒区域示意图；
图6是本申请实施例农业无人飞行器在飞行姿态B下所形成的喷洒区域示意图；
图7是本申请实施例所提供的喷洒作业控制装置的结构示意图。
具体实施例
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施 例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本申请实施例提供的喷洒作业控制控制方法，可以应用于喷洒作业技术领域。在现有利用农业无人飞行器进行喷洒作业的过程中，因为农业无人飞行器利用风场和喷头布局来控制农业无人飞行器喷幅，且一般采用S型航线进行喷洒作业，使得在航线地头等折返处，需要先进行减速后再进行加速，而随着飞行速度变化，风场压力容易出现波动，使得喷幅发生变化，进而导致出现漏喷、重喷的情况。
对于利用植保无人机进行喷洒作业，容易因飞行速度变化，导致出现漏喷、重喷的情况，现有通过增加扫边、使用窄喷幅作业的方式进行缓解。其中，增加扫边的方式，即在正常航线作业完成后，重新再围绕田块轮廓飞行作业一圈，该方式增加了作业时间，且需要精确规划地形轮廓，还容易在路边有树等障碍物时发生炸机；对于使用窄喷幅作业的方式，即人为调小作业行距，降低作业速度，从而减小加减速造成的喷幅差异，其作业效率低下且成本较高。因而上述方式均无法有效解决农业无人飞行器在执行喷洒作业时，容易因飞行速度变化，导致出现漏喷、重喷情况的问题。
本申请实施例提供了一种喷洒作业控制方法，应用于农业无人飞行器，该农业无人飞行器包括多个螺旋桨及多个喷头，每个上述螺旋桨下方设置至少一个上述喷头，其中，请参阅图1，示出了本申请实施例所提供的喷洒作业控制方法的流程示意图。如图1所示，本申请实施例所提供的喷洒作业控制方法，包括S100～S400。
在本申请实施例中，上述农业无人飞行器可以是植保无人机。
S100、获取农业无人飞行器的飞行状态参数。
在上述步骤S100中，在需要进行喷洒作业时，先获取农业无人飞行器当前的飞行状态参数。其中，上述飞行状态参数指的是与农业无人飞行器的飞行状态相关的参数。具体地，飞行状态参数可以是与农业无人飞行器的飞行状态相关的参数中，会影响无人机喷幅的参数，例如飞行速度、飞行高度等。
S200、根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅。
上述S200中，倾斜角度为螺旋桨旋转时所在平面与水平方向的夹角，也即是动力角的余角；上述预设喷幅为预先设置的喷幅值，示例性的，喷幅可以为农业无人飞行器飞行方向上所形成的喷洒区域宽度。
上述S200中，根据农业无人飞行器当前的飞行状态参数，确定每个螺旋桨对应的目标倾斜角度，使得设置在螺旋桨下方的多个喷头，在各个螺旋桨以对应的目标倾斜角度对喷头进行风场压力作用时，所形成的喷洒区域宽度刚好为预设喷幅。
可选地，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅，且在喷洒区域内进行均匀喷洒。也即根据农业无人飞行器当前的飞行状态参数，确定得到的每个螺旋桨对应的目标倾斜角度，不仅使得设置在螺旋桨下方的多个喷头，在各个螺旋桨以对应的目标倾斜角度对喷头进行风场压力作用时，所形成的喷洒区域宽度刚好为预设喷幅，而且可以向对应的喷洒区域进行均匀喷洒，进一步提升了喷洒作业质量。
S300、根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度。
上述S300中，按照S200所确定的目标倾斜角度，对每个螺旋桨进行倾斜角度调整，至每个螺旋桨均处于目标倾斜角度对应的倾斜状态，使得每个螺旋桨可以按照其对应的目标倾斜角度对设置于其下发的喷头进行风场压力作用。
S400、基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
上述S400中，因为在目标倾斜角度下，农业无人飞行器通过螺旋桨的风场压力作用，使得各个喷头可以在当前飞行状态下形成喷幅为预设喷幅，因而在预设喷幅不变的前提下，基于调整后的螺旋桨的倾斜角度进行喷洒作业时，所形成的喷幅能够维持在预设喷幅状态。
本申请实施例提供的喷洒作业控制方法，先将喷头布设于所述螺旋桨下方，然后在需要进行喷洒作业时，获取农业无人飞行器的飞行状态参数；根据飞行状态参数，确定每个螺旋桨对应的目标倾斜角度；其中，在目标倾斜角度下，农业无人飞行器在飞行状态下形成的喷幅为预设喷幅；再根据所述目标倾斜角度，调整所述螺旋桨，最后基于调整后的螺旋桨的倾斜角度进行喷洒作业。因为在目标倾斜角度下，农业无人飞行器通过螺旋桨的风场压力作用，使得各个喷头可以在当前飞行状态下形成喷幅为预设喷幅喷洒效果，也即本申请实施例中，根据飞行状态对应调整螺旋桨的 倾斜角度，使得在不同的飞行状态下，所形成的喷幅均为预设喷幅，保证了喷幅的稳定性，能够有效避免因飞行速度变化而出现漏喷、重喷的问题，提高了农业无人飞行器作业质量。
在实际应用中，喷头可以均匀或不均匀地设置在螺旋桨下方，可以在每个所述螺旋桨下均布设一个或多个喷头。
可选地，处于所述农业无人飞行器的飞行方向轴线两侧的螺旋桨的目标倾斜角度相同，且方向相反，即对称调整螺旋桨的倾斜角度，使得农业无人飞行器两侧所形成的喷洒区域宽度相同，以更好地进行喷洒作用，避免因为在总喷幅达到预设喷幅的情况下，因为农业无人飞行器两侧喷幅差异而造成漏喷或重喷的情况。
可选地，上述农业无人飞行器可以是四旋翼无人飞行器或六旋翼无人飞行器。其中，在所述农业无人飞行器为六旋翼无人飞行器时，处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的目标倾斜角度为0。因中间处的螺旋桨对喷幅的影响较小，因而不进行倾斜调整，也即保持动力角为90°的状态。
可选地，在一种实施方式中，飞行状态参数包括飞行速度，且目标倾斜角度与飞行速度负相关。上述实施方式中，因为飞行速度越小，喷头处的风场压力越小，导致喷幅越小，为了使喷幅不变，则需要控制改变风场压力方向，使得喷洒液往两侧喷洒的角度越大，因而需要螺旋桨的倾斜角度越大，所以目标倾斜角度与飞行速度满足负相关。
可选地，在一种具体实施方式中，上述步骤S200包括：
S201、根据预先确定的所述飞行速度与各个螺旋桨的倾斜角度之间的数值关系，确定各个所述螺旋桨对应的目标倾斜角度。
在上述具体实施方式中，预先通过试验等方式建立飞行速度与各个螺旋桨的倾斜角度之间的数值关系，该数值关系确定了在不同飞行速度下，为了使农业无人飞行器所形成的喷幅为预设喷幅，各个螺旋桨所需要处在的倾斜角度状态。因而在获取了农业无人飞行器当前的飞行速度的情况下，根据预设确定的数值关系，可以快速确定各个螺旋桨对应的倾斜角度，即上述目标倾斜角度。
可选地，在一种实施方式中，上述飞行状态参数包括飞行速度、飞行高度及预设喷幅；上述S200包括S202～S204。
本实施方式中，在需要进行喷洒作业时，先获取农业无人飞行器当前 的飞行速度、飞行高度以及预设喷幅。其中，预设喷幅由操作人员根据实际使用场景进行调整设置。
S202、根据所述飞行速度，计算每个所述喷头处的风场压力。
上述S202中，因为螺旋桨的尺寸固定，且螺旋桨与喷头之间的距离相对固定，所以喷头处的风场压力与螺旋桨的转速之间相关，而螺旋桨的转速与飞行速度满足映射关系，因而在确定了飞行速度后，结合螺旋桨的尺寸及与喷头之间的距离等固定数值，即可以计算出每个所述喷头处的风场压力。
S203、根据所述风场压力、所述飞行高度及所述预设喷幅，计算各个所述喷头的喷洒角度。
上述S203中，喷洒角度指的是喷洒液从喷头喷出后，喷洒液的喷洒方向与竖直方向之间的夹角，因为喷幅由喷头处所受到的风场压力、飞行高度以及喷洒液从喷头喷出后的喷洒角度确定，因而在确定了风场压力、飞行高度及预设喷幅后，可以计算出所需要的各个喷头的喷洒角度。
S204、由各个所述喷头的喷洒角度，确定对应螺旋桨的目标倾斜角度。
上述S204中，因为喷洒角度为喷洒液从喷头喷出后，喷洒液的喷洒方向与竖直方向之间的夹角，而喷洒角度由喷洒液的喷洒方向与风场压力方向一致，风场压力方向又由对应螺旋桨的倾斜角度控制，因而在确定了各个喷头对应的喷洒角度后，可以计算出对应螺旋桨所需要处在的倾斜角度状态。
上述实施方式，通过实时的飞行状态参数，计算得到使得农业无人飞行器在当前飞行状态下形成的喷幅为预设喷幅时，各个螺旋桨所需要的目标倾斜角度，从而实现根据实际场景动态调整螺旋桨的姿态，并将农业无人飞行器的喷幅维持在预设喷幅。
可选地，在一种实施方式中，上述S200还包括S205。
S205、在所述飞行速度达到速度上限值时，将各个所述螺旋桨的目标倾斜角度调整为0。
上述205中，上述速度上限值为农业无人飞行器进行喷洒作用的最大速度值。因为在农业无人飞行器的飞行速度达到速度上限值时，喷头处所受到的风场压力也达到了风场压力上限值，为了使喷幅不变，则需要控制风场压力方向，使得喷洒液往两侧喷洒的角度最小，也即需要控制喷洒液 垂直向下喷洒，而为了使得喷洒液垂直向下喷洒，则需要风场压力方向垂直向下，因而控制将各个所述螺旋桨的目标倾斜角度调整为0，也即各个螺旋桨的旋转平面均处于水平状态，使得在农业无人飞行器达到速度上限值并进行匀速飞行时，螺旋桨的动力角度为90°。
可选地，在一种实施方式中，本申请实施例所提供的喷洒作用控制方法，在S300之后，还包括S301。
S301、基于所述螺旋桨的倾斜角度调整对应的喷头的喷洒角度。
上述S301中，喷头的喷洒角度指的是喷头将喷洒液喷出时的方向与竖直方向之间的夹角。该步骤中，在调整螺旋桨时，同步调整喷头将喷洒液喷出的方向，使得喷头喷洒喷洒液的角度能够匹配风场压力。
可选地，在一种具体实施方式中，所述喷头的喷洒角度与对应的螺旋桨的倾斜角度相同。该具体实施方式中，按螺旋桨的倾斜角度，调整喷头的喷洒角度，也即螺旋桨的倾斜角度为多少度，喷头的喷洒角度液调整至多少度，使得喷头喷洒喷洒液的作用力能够与风场压力重合，达到扩大喷幅的效果。
具体地，在农业无人飞行器的机臂上安装有电机及电动伺服器；该电机则用于驱动螺旋桨相对安装基座转动；而该电动伺服器可以使用蜗杆、齿轮等传动方式与螺旋桨的安装基座传动，以通过电动伺服器，驱动安装基座相对机臂进行倾斜角度调整，进而带动螺旋桨相对机臂进行倾斜角度调整；同时，喷头设置于螺旋桨下方，因而在螺旋桨倾斜角度的调整可以影响农业无人飞行器所形成的喷幅变化。
在实际应用中，考虑到处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的螺旋桨对喷幅的影响较小，因可以不进行倾斜调整，因而对于在农业无人飞行器的飞行方向轴线处的螺旋桨，不对应设置电动伺服器。具体地，如图2所示，以6轴植保无人机为例，示出了农业无人飞行器的飞行姿态调整机构示意图。图2中，电机M1及电机M4所在直线为农业无人飞行器的飞行方向轴线，对于电机M1及M4所驱动的螺旋桨，不对应设置电动伺服器Q；而对于电机M2、M3、M5及M6所驱动的螺旋桨，均对应设置电动伺服器Q，在农业无人飞行器的飞行速度发生变化时，通过各个电动伺服器Q，驱动对应的螺旋桨调整倾斜角度，保持农业无人飞行器所形成的喷幅为预设喷幅。
在实际应用中，在利用本申请实施例所提供的喷洒作业控制方法进行 喷洒作业时，其农业无人飞行器的作业航线如图3所示，包括由地头折返处进入中间区域的加速段a、中间区域的匀速段b以及由中间区域进入地头折返处的减速段c，整体呈S型。
请参阅图4。其中，图4示出了在喷洒作业过程中，农业无人飞行器的飞行姿态变化示意图。
如图4所示，在加速段a处，农业无人飞行器开始起飞，其飞行姿态如姿态A所示，所形成的喷洒区域如图5所示；而随着飞行速度的增加，控制螺旋桨的动力角β逐渐增大，倾斜角度逐渐减小，喷幅不断变小，对冲因加速造成的喷幅外扩，保证喷幅稳定；
当飞行速度达到速度上限值，即飞行速度达到最大作业速度后，螺旋桨的倾斜角度降为0，β角达到90度，农业无人飞行器的飞行姿态进入姿态B，此时进入匀速段b，农业无人飞行器保持匀速作业；在匀速段b处，保持螺旋桨的倾斜度为0，即保持动力角β为90度，使得风场始终向下，其所形成的喷洒区域如图6所示；
而在减速段c处，在匀速作业至快到地头折返处的时候，开始减速，驱动伺服器调整螺旋桨的动力角β从90度开始逐渐减小，以扩大喷幅，补充因减速造成的喷幅收缩，保证喷幅稳定；其中，可以设置达到速度下限值时，螺旋桨的动力角为75度，也即螺旋桨的倾斜角度为10度，具体可以根据不同应用场景调整；
接着换行作业，并重复上述作业过程。
本申请实施例中，先将喷头布设于所述螺旋桨下方，然后在需要进行喷洒作业时，获取农业无人飞行器的飞行状态参数；根据飞行状态参数，确定每个螺旋桨对应的目标倾斜角度；其中，在目标倾斜角度下，农业无人飞行器在飞行状态下形成的喷幅为预设喷幅；再根据所述目标倾斜角度，调整所述螺旋桨，最后基于调整后的螺旋桨的倾斜角度进行喷洒作业。因为在目标倾斜角度下，农业无人飞行器通过螺旋桨的风场压力作用，使得各个喷头可以在当前飞行状态下形成喷幅为预设喷幅喷洒效果，也即本申请实施例中，根据飞行状态对应调整螺旋桨的倾斜角度，使得在不同的飞行状态下，所形成的喷幅均为预设喷幅，保证了喷幅的稳定性，能够有效避免因飞行速度变化而出现漏喷、重喷的问题，提高了农业无人飞行器作业质量。
本申请实施例还提供了一种喷洒作业控制装置，其中，应用于农业无 人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述装置包括：
处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的所述指令用于实现以下操作：
获取农业无人飞行器的飞行状态参数；
根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
所述的控制装置，其特征在于，所述飞行状态参数包括飞行速度，所述目标倾斜角度与所述飞行速度负相关。
可选地，所述的喷洒作业控制装置中，所述处理器还用于：
根据预先确定的所述飞行速度与各个螺旋桨的倾斜角度之间的数值关系，确定各个所述螺旋桨对应的目标倾斜角度。
可选地，所述的喷洒作业控制装置中，所述处理器还用于：
在所述根据所述目标倾斜角度，调整所述螺旋桨的倾斜角度之后，控制所述喷头的喷洒角度与对应的螺旋桨的倾斜角度进行同步调整。
可选地，所述的喷洒作业控制装置中，所述喷头的喷洒角度与对应的螺旋桨的倾斜角度相同。
可选地，所述的喷洒作业控制装置中，所述处理器具体用于：
在所述飞行速度达到速度上限值时，将各个所述螺旋桨的目标倾斜角度调整为0。
可选地，所述的喷洒作业控制装置中，所述飞行状态参数包括飞行速度、飞行高度及预设喷幅；
所述处理器具体用于：
根据所述飞行速度，计算每个所述喷头处的风场压力；
根据所述风场压力、所述飞行高度及所述预设喷幅，计算各个所述喷头的喷洒角度；
由各个所述喷头的喷洒角度，确定对应螺旋桨的目标倾斜角度。
可选地，所述的喷洒作业控制装置中，处于所述农业无人飞行器的飞行方向轴线两侧的螺旋桨的目标倾斜角度相同，且方向相反。
可选地，所述的喷洒作业控制装置中，在所述农业无人机为六旋翼无人飞行器时，处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的目标倾斜角度为0
本申请实施例公开了一种计算机可读存储介质，其中，包括指令，当其在计算机上运行时，使得计算机执行如上所述的方法。
本申请实施例还提供了一种喷洒作业控制装置，请参阅图7，示出了本申请实施例所提供的喷洒作业控制装置的结构示意图，其中，所述装置应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，如图7所示，所述装置包括：
获取模块71，用于获取农业无人飞行器的飞行状态参数；
确定模块72，用于根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
调整模块73，用于根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
作业模块74，用于基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
本申请实施例所提供的喷洒作业控制装置，先将喷头布设于所述螺旋桨下方，然后在需要进行喷洒作业时，由获取模块71获取农业无人飞行器的飞行状态参数；由确定模块72根据飞行状态参数，确定每个螺旋桨对应的目标倾斜角度；其中，在目标倾斜角度下，农业无人飞行器在飞行状态下形成的喷幅为预设喷幅；再由调整模块73根据所述目标倾斜角度，调整所述螺旋桨，最后由喷洒模块74基于调整后的螺旋桨的倾斜角度进行喷洒作业。因为在目标倾斜角度下，农业无人飞行器通过螺旋桨的风场压力作用，使得各个喷头可以在当前飞行状态下形成喷幅为预设喷幅喷洒效果，也即本申请实施例中，根据飞行状态对应调整螺旋桨的倾斜角度，使得在不同的飞行状态下，所形成的喷幅均为预设喷幅，保证了喷幅的稳定性，能够有效避免因飞行速度变化而出现漏喷、重喷的问题，提高了农业无人飞行器作业质量。
可选地，所述的喷洒作业控制装置中，所述飞行状态参数包括飞行速度，所述目标倾斜角度与所述飞行速度负相关。
可选地，所述的控制装置中，所述确定模块72，还用于根据预先确定 的所述飞行速度与各个螺旋桨的倾斜角度之间的数值关系，确定各个所述螺旋桨对应的目标倾斜角度。
可选地，所述调整模块，还用于在所述根据所述目标倾斜角度，调整所述螺旋桨的倾斜角度之后，控制所述喷头的喷洒角度与对应的螺旋桨的倾斜角度进行同步调整。
可选地，所述的控制装置中，所述喷头的喷洒角度与对应的螺旋桨的倾斜角度相同。
可选地，所述的控制装置中，所述确定模块72，具体用于在所述飞行速度达到速度上限值时，将各个所述螺旋桨的目标倾斜角度调整为0。
可选地，所述的控制装置中，所述飞行状态参数包括飞行速度、飞行高度及预设喷幅；
所述确定模块具体用于：
根据所述飞行速度，计算每个所述喷头处的风场压力；
根据所述风场压力、所述飞行高度及所述预设喷幅，计算各个所述喷头的喷洒角度；
由各个所述喷头的喷洒角度，确定对应螺旋桨的目标倾斜角度。
可选地，所述的控制装置中，处于所述农业无人飞行器的飞行方向轴线两侧的螺旋桨的目标倾斜角度相同，且方向相反。
可选地，所述的控制装置中，在所述农业无人机为六旋翼无人飞行器时，处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的目标倾斜角度为0。
本申请实施例还提供了一种组件，其中，包括机臂、螺旋桨及喷头，所述螺旋桨设置于所述机臂上，所述螺旋桨可相对所述机臂进行倾斜角度调整，所述喷头设置于所述机臂底部。
可选地，所示组件还包括电动伺服器，该电动伺服器设置于机臂上，用于驱动螺旋桨相对所述机臂进行倾斜角度调整。具体地，该电动伺服器可以使用蜗杆、齿轮等传动方式驱动螺旋桨相对机臂进行倾斜角度调整。
本申请实施例还提供了一种农业无人飞行器，其中，包括如上所述的喷洒作业控制装置。
上述组件、存储介质及农业无人飞行器与上述一种喷洒作业控制方法、装置相对于现有技术所具有的优势相同，在此不再赘述。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任 意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者通过计算机可读存储介质进行传输。计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本申请所提供的一种喷洒作业控制方法、装置、计算机可读存储介质、组件及农业无人飞行器，进行了详细介绍，本文中应用了具体个 例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (20)

  1. 一种喷洒作业控制方法，其特征在于，所述方法应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述方法包括：
    获取所述农业无人飞行器的飞行状态参数；
    根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，在所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
    根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
    基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
  2. 根据权利要求1所述的控制方法，其特征在于，所述飞行状态参数包括飞行速度，所述目标倾斜角度与所述飞行速度负相关。
  3. 根据权利要求2所述的控制方法，其特征在于，所述根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度，包括：
    根据预先确定的所述飞行速度与各个螺旋桨的倾斜角度之间的数值关系，确定各个所述螺旋桨对应的目标倾斜角度。
  4. 根据权利要求1所述的控制方法，其特征在于，在所述根据所述目标倾斜角度，调整所述螺旋桨的倾斜角度之后，所述方法还包括：
    基于所述螺旋桨的倾斜角度调整对应的喷头的喷洒角度。
  5. 根据权利要求4所述的控制方法，其特征在于，所述喷头的喷洒角度与对应的螺旋桨的倾斜角度相同。
  6. 根据权利要求1所述的控制方法，其特征在于，所述根据所述飞行速度，确定每个所述螺旋桨对应的目标倾斜角度包括：
    在所述飞行速度达到速度上限值时，将各个所述螺旋桨的目标倾斜角度调整为0。
  7. 根据权利要求1所述的控制方法，其特征在于，所述飞行状态参数包括飞行速度、飞行高度及预设喷幅；
    所述根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度包括：
    根据所述飞行速度，计算每个所述喷头处的风场压力；
    根据所述风场压力、所述飞行高度及所述预设喷幅，计算各个所述喷头 的喷洒角度；
    由各个所述喷头的喷洒角度，确定对应螺旋桨的目标倾斜角度。
  8. 根据权利要求1所述的控制方法，其特征在于，处于所述农业无人飞行器的飞行方向轴线两侧的螺旋桨的目标倾斜角度相同，且方向相反。
  9. 根据权利要求1所述的控制方法，其特征在于，在所述农业无人机为六旋翼无人飞行器时，处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的目标倾斜角度为0。
  10. 一种喷洒作业控制装置，其特征在于，应用于农业无人飞行器，所述农业无人飞行器包括多个螺旋桨及多个喷头，每个所述螺旋桨下方设置至少一个所述喷头，所述装置包括：
    处理器和存储器，所述存储器用于存储指令，所述处理器调用所述存储器存储的所述指令用于实现以下操作：
    获取所述农业无人飞行器的飞行状态参数；
    根据所述飞行状态参数，确定每个所述螺旋桨对应的目标倾斜角度；其中，所述目标倾斜角度下，所述农业无人飞行器在所述飞行状态下形成的喷幅为预设喷幅；
    根据所述目标倾斜角度，调整每个所述螺旋桨的倾斜角度；
    基于调整后的每个所述螺旋桨的倾斜角度进行喷洒作业。
  11. 根据权利要求10所述的控制装置，其特征在于，所述飞行状态参数包括飞行速度，所述目标倾斜角度与所述飞行速度负相关。
  12. 根据权利要求11所述的控制装置，其特征在于，所述处理器还用于：
    根据预先确定的所述飞行速度与各个螺旋桨的倾斜角度之间的数值关系，确定各个所述螺旋桨对应的目标倾斜角度。
  13. 根据权利要求10所述的控制装置，其特征在于，所述处理器还用于：
    在所述根据所述目标倾斜角度，调整所述螺旋桨的倾斜角度之后，控制所述喷头的喷洒角度与对应的螺旋桨的倾斜角度进行同步调整。
  14. 根据权利要求13所述的控制装置，其特征在于，所述喷头的喷洒角度与对应的螺旋桨的倾斜角度相同。
  15. 根据权利要求10所述的控制装置，其特征在于，所述处理器具体用于：
    在所述飞行速度达到速度上限值时，将各个所述螺旋桨的目标倾斜角度调整为0。
  16. 根据权利要求10所述的控制装置，其特征在于，所述飞行状态参数包括飞行速度、飞行高度及预设喷幅；
    所述处理器具体用于：
    根据所述飞行速度，计算每个所述喷头处的风场压力；
    根据所述风场压力、所述飞行高度及所述预设喷幅，计算各个所述喷头的喷洒角度；
    由各个所述喷头的喷洒角度，确定对应螺旋桨的目标倾斜角度。
  17. 根据权利要求10所述的控制装置，其特征在于，处于所述农业无人飞行器的飞行方向轴线两侧的螺旋桨的目标倾斜角度相同，且方向相反。
  18. 根据权利要求10所述的控制装置，其特征在于，在所述农业无人机为六旋翼无人飞行器时，处于所述农业无人飞行器的飞行方向轴线处的螺旋桨的目标倾斜角度为0。
  19. 一种农业无人飞行器，其特征在于，包括如权力要求10～18任一项所述的喷洒作业控制装置。
  20. 一种计算机可读存储介质，其特征在于，包括指令，当其在计算机上运行时，使得计算机执行如权利要求1-9任一项所述的方法。
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