WO2022193155A1 - 无人飞行器、药箱装置、加液装置及控制方法、植保系统 - Google Patents

无人飞行器、药箱装置、加液装置及控制方法、植保系统 Download PDF

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Publication number
WO2022193155A1
WO2022193155A1 PCT/CN2021/081176 CN2021081176W WO2022193155A1 WO 2022193155 A1 WO2022193155 A1 WO 2022193155A1 CN 2021081176 W CN2021081176 W CN 2021081176W WO 2022193155 A1 WO2022193155 A1 WO 2022193155A1
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WIPO (PCT)
Prior art keywords
medicine box
box device
plant protection
protection operation
unmanned aerial
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Ceased
Application number
PCT/CN2021/081176
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English (en)
French (fr)
Inventor
潘仑
龙玉其
周东旭
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2021/081176 priority Critical patent/WO2022193155A1/zh
Publication of WO2022193155A1 publication Critical patent/WO2022193155A1/zh
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • 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 plant protection for unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle, a medicine box device, a liquid adding device and a control method, and a plant protection system.
  • Unmanned aerial vehicles can be used for agricultural plant protection operations such as spraying or irrigation.
  • the unmanned aerial vehicle can carry a water tank or a medicine box, and spray or irrigate the farmland below during the flight.
  • the present application provides an unmanned aerial vehicle, a medicine box device, a liquid adding device, a control method, and a plant protection system, which aim to improve the efficiency of plant protection operations performed by the unmanned aerial vehicle.
  • an embodiment of the present application provides a control method for an unmanned aerial vehicle, including:
  • the plant protection operation is performed according to the plant protection operation information.
  • an embodiment of the present application provides a control method for a medicine box device, including:
  • the plant protection operation information is sent to the unmanned aerial vehicle detachably connected to the medicine box device, so that the unmanned aerial vehicle performs plant protection operation according to the plant protection operation information.
  • an embodiment of the present application provides a method for controlling a liquid dosing device, including:
  • an unmanned aerial vehicle including:
  • a rack including a medicine box mounting portion for placing the medicine box device
  • a power system mounted on the frame, for providing flight power
  • One or more processors working individually or collectively, to perform:
  • the power system and the spraying system are controlled to perform plant protection operations according to the plant protection operation information.
  • the embodiments of the present application provide a medicine box device for an unmanned aerial vehicle, which can be detachably connected to an unmanned aerial vehicle or a liquid filling device, and the medicine box device includes:
  • Energy storage components used to store electricity
  • a liquid level detection component powered by the energy storage component, for detecting the liquid level information of the pesticide in the water tank;
  • One or more processors working individually or collectively, to perform:
  • the plant protection operation information is sent to the unmanned aerial vehicle detachably connected to the medicine box device, so that the unmanned aerial vehicle performs plant protection operation according to the plant protection operation information.
  • an embodiment of the present application provides a liquid adding device for an unmanned aerial vehicle, including:
  • a base including a medicine box mounting portion for placing the medicine box device
  • a liquid filling assembly which is installed on the base and used for filling pesticides into the medicine box device;
  • One or more processors working individually or collectively, to perform:
  • an embodiment of the present application provides a plant protection system, including the aforementioned unmanned aerial vehicle, and the aforementioned medicine box device, wherein the medicine box device can be detachably connected to the unmanned aerial vehicle.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing method.
  • the embodiment of the present application provides an unmanned aerial vehicle, a medicine box device, a liquid adding device and a control method, and a plant protection system.
  • the control method of the unmanned aerial vehicle includes: obtaining plant protection operation information sent by the medicine box device, and the medicine box device and the unmanned aerial vehicle.
  • the aircraft is detachably connected to perform plant protection operations based on plant protection operation information. It is not necessary to manually confirm whether the medicine box device currently carried by the unmanned aerial vehicle is the medicine box device required for the current operation, and the unmanned aerial vehicle can perform plant protection operations more intelligently, which can save manpower, make the execution process of plant protection operations more accurate, and improve the performance of unmanned aerial vehicles. Efficiency of plant protection operations.
  • FIG. 1 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of the connection between the unmanned aerial vehicle and the medicine box device in one embodiment
  • FIG. 3 is a schematic structural diagram of a medicine box device in one embodiment
  • 4a is a schematic structural diagram of the connection between the unmanned aerial vehicle and the medicine box device in another embodiment
  • 4b is a schematic structural diagram of the connection between the unmanned aerial vehicle and the medicine box device in another embodiment
  • 5a is a schematic structural diagram of the connection between the medicine box device and the liquid adding device in one embodiment
  • Figure 5b is a schematic structural diagram of the connection between the medicine box device and the liquid adding device in another embodiment
  • FIG. 6 is a schematic flowchart of a control method of a medicine box device provided by an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a control method of a liquid adding device provided by an embodiment of the present application.
  • FIG. 8 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 9 is a schematic block diagram of a medicine box device provided by an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of a liquid adding device provided in an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application.
  • the control method can be applied to the unmanned aerial vehicle 100 as shown in FIG. 2 to control the unmanned aerial vehicle 100 to perform plant protection operations, such as spraying pesticides, etc.; Rotary-wing drones, six-rotor drones, eight-rotor drones, or fixed-wing drones.
  • Unmanned aerial vehicle 100 includes gantry 110 , power system 120 and spray system 130 .
  • the rack 110 includes a medicine box mounting portion 111 for placing the medicine box device 200
  • the power system 120 is installed on the rack 110 for providing flight power
  • the spraying system 130 is used for spraying the pesticide in the medicine box device 200 .
  • the medicine box device 200 includes a water tank 210 , an energy storage assembly 220 and a liquid level detection assembly 230 .
  • the water tank 210 is used for holding pesticides
  • the energy storage component 220 is used to store electricity
  • the liquid level detection component 230 is powered by the energy storage component 220 for detecting the liquid level information of the pesticides in the water tank 210 .
  • the liquid level detection assembly 230 includes a magnetic induction sensor, a buoyancy member and a magnetic member disposed on the buoyancy member; the buoyancy member floats with the liquid level in the water tank 210, and the magnetic induction sensor detects the position of the buoyancy member to determine the position of the liquid level.
  • the magnetic induction sensor includes, for example, a Hall device, a reed switch, and the like.
  • the liquid level detection assembly 230 may include a continuous level gauge constructed with an analog Hall device, or a segmented level gauge constructed with a switch Hall device, or a reed switch.
  • the energy storage assembly 220, the liquid level detection assembly 230 and the water tank 210 are integrally provided.
  • the liquid level detection assembly 230 can also be powered by the energy storage assembly 220, and the detection water tank 210 Level information for pesticides in
  • control method for an unmanned aerial vehicle includes steps S110 to S120.
  • the medicine box device 200 further includes a memory, and the memory can be used to store plant protection operation information, for example, the plant protection operation information includes liquid level information of pesticides in the water tank 210 .
  • the unmanned aerial vehicle 100 and the medicine box device 200 transmit plant protection operation information through wireless communication.
  • the unmanned aerial vehicle 100 there is no electrical contact between the unmanned aerial vehicle 100 and the medicine box device 200, which can prevent a short circuit caused by the aqueous solution when the medicine box device 200 and the unmanned aerial vehicle 100 are plugged and replaced, thereby improving reliability and safety.
  • the unmanned aerial vehicle 100 and the medicine box device 200 transmit plant protection operation information through at least one of optical coupling, inductive coupling, capacitive coupling, and acoustic wave communication, but of course it is not limited thereto.
  • the unmanned aerial vehicle 100 is provided with a first communication component 140a
  • the medicine box device 200 further includes a second communication component 240a
  • the unmanned aerial vehicle 100 and the medicine box device 200 pass through the first communication component 140a.
  • the second communication component 240a performs wireless communication.
  • the first communication component 140a and the second communication component 240a can communicate wirelessly through optical coupling, inductive coupling, capacitive coupling or acoustic waves.
  • the first communication component 140a is disposed on the medicine box mounting part 111 of the unmanned aerial vehicle 100 .
  • the medicine box device 200 when the medicine box device 200 is connected to the medicine box mounting part 111 of the unmanned aerial vehicle 100, the positions of the first communication component 140a of the unmanned aerial vehicle 100 and the second communication component 240a of the medicine box device 200 are adjacent, so as to Improve the reliability of communication.
  • the second communication component 240a of the medicine box device 200 is connected to the energy storage component 220 , powered by the energy storage component 220 , and sends plant protection operation information such as the pesticide level information in the water tank 210 to the UAV 100 .
  • the processor of the UAV 100 may obtain the plant protection operation information sent by the medicine box device 200 through the first communication component 140a, and control the UAV 100 to perform the plant protection operation according to the plant protection operation information.
  • the processor may include a flight controller, as well as a processor in spray system 130 .
  • the UAV 100 can wirelessly charge the energy storage assembly 220 of the medicine box device 200 so that the energy storage assembly 220 provides power to the liquid level detection assembly 230 of the medicine box device 200 .
  • the energy storage component 220 includes at least one of the following: a super capacitor and a lithium battery.
  • the unmanned aerial vehicle 100 can wirelessly charge the energy storage assembly 220 of the medicine box device 200 . Therefore, the medicine box device 200 does not need to replace the battery frequently, and the isolation and sealing of the electrical parts of the medicine box device 200 are also facilitated.
  • the UAV 100 is provided with a first wireless charging assembly 140b
  • the medicine box device 200 further includes a second wireless charging assembly 240b
  • the UAV 100 transmits energy through the first wireless charging assembly 140b
  • the medicine box device 200 receives the energy transmitted by the first wireless charging component 140b through the second wireless charging component 240b, and stores the energy in the energy storage component 220.
  • the first wireless charging assembly 140b and the second wireless charging assembly 240b can perform wireless charging through electromagnetic induction or magnetic field resonance.
  • the first wireless charging assembly 140b is disposed on the medicine box mounting part 111 of the unmanned aerial vehicle 100 .
  • the positions of the first wireless charging assembly 140b of the unmanned aerial vehicle 100 and the second wireless charging assembly 240b of the medicine box device 200 are adjacent to each other. , to improve the efficiency of wireless charging.
  • the unmanned aerial vehicle 100 and the medicine box device 200 transmit plant protection operation information through carrier communication. In order to obtain the plant protection operation information sent by the medicine box device 200 when the unmanned aerial vehicle 100 is wirelessly charging the medicine box device 200 .
  • the first communication component 140a and the first wireless charging component 140b of the unmanned aerial vehicle 100 are integrally arranged, and the second communication component 240a and the second wireless charging component 240b of the medicine box device 200 are integrally arranged, which can simplify the unmanned aerial vehicle. 100 and the structure of the medicine box device 200.
  • the first communication component 140a and the first wireless charging component 140b of the unmanned aerial vehicle 100 are the same, and the second communication component 240a and the second wireless charging component 240b of the medicine box device 200 are the same.
  • the first wireless charging assembly 140b of the unmanned aerial vehicle 100 and the second wireless charging assembly 240b of the medicine box device 200 each include a coil and a wireless charging chip. Transmission of plant protection operation information through carrier communication.
  • the unmanned aerial vehicle 100 By acquiring the plant protection operation information of the medicine box device 200 and performing the plant protection operation according to the plant protection operation information, it is not necessary to manually confirm whether the medicine box device 200 currently carried by the unmanned aerial vehicle 100 is the medicine box device 200 required for the current operation, or it is not necessary to The information of the plant protection operation is set on the side of the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 performs the plant protection operation more intelligently.
  • the medicine box device 200 can be connected to any unmanned aerial vehicle 100 , and the unmanned aerial vehicle 100 can perform plant protection operations through the plant protection operation information of the medicine box device 200 . Therefore, manpower can be saved, the execution process of the plant protection operation is more accurate, and the efficiency of the plant protection operation performed by the unmanned aerial vehicle 100 is improved.
  • the plant protection operation information includes at least liquid level information of the medicine box device 200 .
  • the medicine box device 200 can acquire the liquid level information of the medicine box device 200 through the liquid level detection component 230 of the medicine box device 200 .
  • performing the plant protection operation according to the plant protection operation information includes: performing a return-to-home task and/or a medicine adding task according to the liquid level information of the medicine box device 200 .
  • the liquid level information is used to control the UAV 100 to perform a return-to-home mission and/or a dosing mission.
  • the medicine box device 200 periodically detects the liquid level information, and sends the liquid level information to the unmanned aerial vehicle 100.
  • the unmanned aerial vehicle 100 returns home when the current liquid level of the pesticide in the water tank 210 is equal to or less than the preset lower limit of the liquid level.
  • the medicine box device 200 can also be manually or automatically added with medicine at the preset position. After the dosing is completed, the plant protection operation can be continued.
  • the plant protection operation information further includes at least one of the following: route information of the plant protection operation, identification information of the medicine box device 200 , the type of pesticide in the medicine box device 200 , and the amount of pesticide per mu in the medicine box device 200 .
  • the route information of the plant protection operation, the identification information of the medicine box device 200, the types of pesticides in the medicine box device 200, and the amount of pesticides in the medicine box device 200 can be connected to the unmanned aerial vehicle 100 in the medicine box device 200. You can transfer it once.
  • the route information is used to indicate the flight trajectory of the UAV 100 when performing plant protection operations.
  • performing the plant protection operation according to the plant protection operation information includes: flying according to the trajectory corresponding to the route information.
  • the identification information of the medicine box device 200 is used to distinguish different medicine box devices 200, and the type of pesticide in the medicine box device 200 is used to indicate the type of pesticide currently contained in the medicine box device 200 or the type of residual pesticide.
  • performing the plant protection operation according to the plant protection operation information includes: adjusting at least one of the flying height, the flying speed, and the flow rate of spraying pesticides according to the amount per mu. So that the unmanned aerial vehicle 100 can spray the pesticide reasonably according to the amount of pesticide per mu, and improve the effect of pesticide use.
  • the medicine box device 200 can obtain the plant protection operation information, and send the plant protection operation information to the unmanned aerial vehicle 100 detachably connected with the medicine box device 200, so that the unmanned aerial vehicle 100 can perform the plant protection operation according to the plant protection operation information .
  • the medicine box device 200 can obtain at least one of the following from the terminal device: the route information of the plant protection operation, the identification information of the medicine box device 200, the type of the pesticide in the medicine box device 200, and the amount of pesticide per mu in the medicine box device 200. .
  • the terminal device may include at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a remote control, and the like.
  • the user can set at least one of the following plant protection operation information on the interactive interface of the terminal device: route information of the plant protection operation, identification information of the medicine box device 200, the type of pesticide in the medicine box device 200, and the pesticide in the medicine box device 200.
  • the terminal device can plan and obtain the route information of the plant protection operation according to the aerial survey data of the to-be-operated area; and the terminal device can send the plant protection operation information to the medicine box device 200 .
  • the medicine box apparatus 200 and the terminal device may perform wireless communication.
  • the terminal device may send corresponding plant protection operation information to the medicine box device 200 through the second communication component 240a of the medicine box device 200 .
  • the UAV 100 can also send plant protection operation information to the terminal device, so that the terminal device outputs the plant protection operation information.
  • the plant protection operation information obtained from the medicine box device 200 may be displayed on the terminal device, so as to check and collect the plant protection operation information of the medicine box device 200 actually carried by the unmanned aerial vehicle 100 .
  • the unmanned aerial vehicle 100 can also obtain the operation adjustment instruction sent by the terminal device according to the operation adjustment operation, and adjust the plant protection operation information.
  • the user can adjust the operation through the interactive interface of the terminal device, such as modifying the route of the plant protection operation, the amount per mu, etc., so that the unmanned aerial vehicle 100 can perform the plant protection operation according to the adjusted information of the plant protection operation.
  • the medicine box device 200 can obtain plant protection operation information from the liquid adding device 300 .
  • the liquid adding device 300 is used for adding pesticides to the water tank 210 of the medicine box device 200 .
  • the medicine cabinet device 200 can be removably connected to the liquid filling device 300.
  • the liquid adding device 300 includes a base 310 and a liquid adding assembly 320 .
  • the base 310 includes a medicine box mounting portion 311 for placing the medicine box device 200
  • the liquid adding assembly 320 is installed on the base 310 for filling the medicine box device 200 with pesticides.
  • the medicine box mounting portion 111 of the unmanned aerial vehicle 100 for placing the medicine box device 200 and the medicine box mounting portion 311 of the liquid adding device 300 for placing the medicine box device 200 may have the same structure.
  • the box device 200 can be connected to the medicine box mounting part 111 of the unmanned aerial vehicle 100 or the medicine box mounting part 311 of the liquid adding device 300 in the same manner, which can simplify the structure.
  • the medicine box device 200 can obtain at least one of the following plant protection operation information from the liquid adding device 300 detachably connected to the medicine box device 200: route information of the plant protection operation, identification information of the medicine box device 200, medicine box device The types of pesticides in 200, and the amount of pesticides per mu in the medicine box device 200.
  • the medicine box device 200 when the medicine box device 200 is connected to the liquid adding device 300, at least one piece of plant protection operation information can be acquired from the liquid adding device 300, and the acquired plant protection operation information can be stored in the memory, so that the medicine box device 200 can be connected to the liquid adding device 300.
  • the plant protection operation information is sent to the unmanned aerial vehicle 100 , so that the unmanned aerial vehicle 100 can perform the plant protection operation according to the plant protection operation information of the medicine box device 200 .
  • the liquid adding device 300 and the medicine box device 200 transmit plant protection operation information through wireless communication.
  • the liquid adding device 300 there is no electrical contact between the liquid adding device 300 and the medicine box device 200, which can prevent a short circuit caused by the aqueous solution when the medicine box device 200 and the liquid adding device 300 are plugged and replaced, thereby improving reliability and safety.
  • the liquid adding device 300 and the medicine box device 200 transmit plant protection operation information through at least one of optical coupling, inductive coupling, capacitive coupling, and acoustic wave communication, but of course it is not limited to this.
  • the liquid adding device 300 is provided with a third communication component 330a
  • the medicine box device 200 further includes a second communication component 240a
  • the liquid adding device 300 and the medicine box device 200 pass through the third communication component 330a.
  • the second communication component 240a performs wireless communication.
  • the third communication component 330a and the second communication component 240a can communicate wirelessly through optical coupling, inductive coupling, capacitive coupling or acoustic waves.
  • the third communication component 330a is disposed on the medicine box mounting part 311 of the liquid adding device 300 .
  • the third communication component 330a of the liquid adding device 300 is adjacent to the second communication component 240a of the medicine box device 200, so that Improve the reliability of communication.
  • the second communication component 240a of the medicine box device 200 is connected to the energy storage component 220, is powered by the energy storage component 220, acquires plant protection operation information from the liquid adding device 300, and stores the acquired plant protection operation information in the memory.
  • the liquid adding device 300 can wirelessly charge the energy storage component 220 of the medicine box device 200 , and the energy storage component 220 of the medicine box device 200 is used to supply power to the liquid level detection component 230 of the medicine box device 200 .
  • the liquid adding device 300 can wirelessly charge the energy storage component 220 of the medicine box device 200 . Therefore, the medicine box device 200 does not need to replace the battery frequently, and the isolation and sealing of the electrical parts of the medicine box device 200 are also facilitated.
  • the liquid adding device 300 is provided with a third wireless charging assembly 330b
  • the medicine box device 200 further includes a second wireless charging assembly 240b
  • the liquid adding device 300 transmits energy through the third wireless charging assembly 330b
  • the medicine box device 200 receives the energy transmitted by the third wireless charging component 330b through the second wireless charging component 240b, and stores the energy in the energy storage component 220.
  • the third wireless charging assembly 330b and the second wireless charging assembly 240b can perform wireless charging through electromagnetic induction or magnetic field resonance.
  • the third wireless charging assembly 330b is disposed on the medicine box mounting portion 311 of the liquid adding device 300 .
  • the third wireless charging assembly 330b of the liquid filling device 300 is adjacent to the second wireless charging assembly 240b of the medicine box device 200 , to improve the efficiency of wireless charging.
  • the liquid adding device 300 and the medicine box device 200 transmit the plant protection operation information by means of carrier wave communication.
  • the liquid adding device 300 is wirelessly charging the medicine box device 200
  • the plant protection operation information is sent to the medicine box device 200 for storage.
  • the third communication assembly 330a and the third wireless charging assembly 330b of the liquid adding device 300 are integrally provided, and the second communication assembly 240a and the second wireless charging assembly 240b of the medicine box device 200 are integrally provided, which can simplify the liquid feeding device 300 and the structure of the medicine box device 200.
  • the third communication component 330a and the third wireless charging component 330b of the liquid adding device 300 are the same, and the second communication component 240a and the second wireless charging component 240b of the medicine box device 200 are the same.
  • the third wireless charging assembly 330b of the liquid adding device 300 and the second wireless charging assembly 240b of the medicine box device 200 each include a coil and a wireless charging chip, which can be used when the liquid adding device 300 wirelessly charges the medicine box device 200. Transmission of plant protection operation information through carrier communication.
  • the liquid adding device 300 may acquire at least one of the following plant protection operation information from the terminal device: route information of the plant protection operation, identification information of the medicine box device 200 , types of pesticides in the medicine box device 200 , pesticides in the medicine box device 200 . acre usage.
  • the user can set at least one piece of plant protection operation information on the interactive interface of the terminal device;
  • the terminal device can plan and obtain the route information of plant protection operations according to the aerial survey data of the area to be operated; and the terminal device can set these plant protection operations.
  • the information is sent to the dosing device 300 .
  • the liquid adding device 300 or the terminal device can obtain information such as the type of pesticide, the amount per mu, etc., through the image identifier on the outer packaging of the pesticide, or obtain the type and mu of the pesticide through the electronic label of the outer packaging of the radio frequency identification pesticide.
  • usage and other information include one or more of the following: two-dimensional code, barcode, digital symbol, and photo
  • the electronic label includes one or more of the following: RFID tag, NFC tag.
  • the liquid adding device 300 can determine at least one of the following through the human-computer interaction interface of the liquid adding device 300: route information of plant protection operations, identification information of the medicine box device 200, types of pesticides in the medicine box device 200, medicine boxes. The per-mu dosage of pesticides in device 200.
  • the liquid adding device 300 may plan and obtain the route information of the plant protection operation according to the aerial survey data of the area to be operated.
  • the medicine box device 200 may send the liquid level information of the medicine box device 200 and/or the prompt information for indicating that the liquid level of the medicine box device 200 reaches the liquid level threshold to the liquid filling device 300, so that the liquid filling device 300 Stop adding pesticides to the water tank 210 of the medicine box device 200 according to the liquid level information and/or prompt information of the medicine box device 200 .
  • the liquid adding device 300 can determine whether the current liquid level of the medicine box device 200 reaches the liquid level threshold, and stop adding medicine when the liquid level threshold is reached to prevent overdosing.
  • the liquid level detection component 230 of the medicine box device 200 may be powered by the energy storage component 220 to detect the liquid level information of the pesticide in the water tank 210 .
  • the medicine box device 200 may send the type of pesticide currently in the medicine box device 200 to the liquid adding device 300 .
  • the liquid adding device 300 acquires the type of the pesticide currently in the medicine box device 200 from the medicine box device 200 , and extracts the pesticide in the medicine box device 200 according to the type of the pesticide currently in the medicine box device 200 and/or performs the operation on the medicine box device 200 . cleaning.
  • the medicine box device 200 when the medicine box device 200 is connected to the liquid adding device 300, the medicine box device 200 sends information such as the types of pesticides stored in the memory to the liquid adding device 300 through wireless communication, and can be added to the medicine box device 200 according to the types of pesticides. Corresponding pesticides, or unneeded pesticides are extracted, and the medicine box device 200 is cleaned.
  • the liquid adding device 300 can add pesticides to the cleaned medicine box device 200, and send the current plant protection operation information to the medicine box device 200, so that the medicine box device 200 can update the plant protection operation information stored in the memory.
  • the liquid adding device 300 and/or the terminal device can automatically determine the plant protection operation information, and when adding medicine to the medicine box device 200, send the plant protection operation information to the corresponding medicine box device 200 for storage, and the medicine box device 200 It can also be powered by the energy storage component 220 and detect plant protection operation information such as the remaining medicine amount of the medicine box device 200, so that when the medicine box device 200 is connected to the unmanned aerial vehicle 100, the plant protection operation information is sent to the unmanned aerial vehicle 100, thereby The unmanned aerial vehicle 100 can perform the plant protection operation according to the plant protection operation information of the medicine box device 200 .
  • Both the liquid adding device 300 and the unmanned aerial vehicle 100 can charge the energy storage component 220 of the medicine box device 200 , which solves the power supply problem of the medicine box device 200 .
  • the liquid adding device 300 , the medicine box device 200 and the unmanned aerial vehicle 100 can cooperate to complete the plant protection operation by themselves, so as to realize the unattended plant protection operation.
  • the control method for an unmanned aerial vehicle includes: acquiring plant protection operation information sent by a medicine box device, the medicine box device is detachably connected to the unmanned aerial vehicle, and the plant protection operation is performed according to the plant protection operation information. It is not necessary to manually confirm whether the medicine box device currently carried by the unmanned aerial vehicle is the medicine box device required for the current operation, and the unmanned aerial vehicle can perform plant protection operations more intelligently, which can save manpower, make the execution process of plant protection operations more accurate, and improve the performance of unmanned aerial vehicles. Efficiency of plant protection operations.
  • FIG. 6 is a schematic flowchart of a control method of a medicine box device provided by another embodiment of the present application.
  • the control method can be applied in a medicine box device for communicating with an unmanned aerial vehicle; wherein the unmanned aerial vehicle can be a rotary-wing unmanned aerial vehicle, such as a quad-rotor unmanned aerial vehicle, a hexa-rotor unmanned aerial vehicle, an octa-rotor unmanned aerial vehicle, etc.
  • UAVs also fixed-wing UAVs.
  • the control method of the medicine box device of this embodiment includes steps S210 to S220.
  • S220 Send the plant protection operation information to an unmanned aerial vehicle detachably connected to the medicine box device, so that the unmanned aerial vehicle can perform plant protection operations according to the plant protection operation information.
  • the acquiring plant protection operation information includes: acquiring liquid level information of the medicine box device through a liquid level detection component of the medicine box device, where the liquid level information is used to control the unmanned aerial vehicle Perform return missions and/or dosing missions.
  • the plant protection operation information further includes at least one of the following: route information of the plant protection operation, identification information of the medicine box device, types of pesticides in the medicine box device, and acres of pesticides in the medicine box device. dosage.
  • the acquiring plant protection operation information includes: acquiring from a terminal device at least one of the following: route information of plant protection operations, identification information of the medicine box device, types of pesticides in the medicine box device, and the medicine box device. The amount of pesticide per mu in the box device.
  • the acquiring plant protection operation information includes: acquiring at least one of the following from a liquid adding device detachably connected to the medicine box device: route information of plant protection operations, identification information of the medicine box device, all The type of pesticide in the medicine box device, the amount of pesticide per mu in the medicine box device, and the liquid adding device is used to add the pesticide to the water tank of the medicine box device.
  • the method further includes: sending the liquid level information of the medicine box device and/or prompt information for indicating that the liquid level of the medicine box device reaches a liquid level threshold to the liquid adding device, so as to The liquid adding device stops adding pesticides to the water tank of the medicine box device.
  • the method further includes: sending the type of the pesticide currently in the medicine box device to the liquid adding device, so that the liquid adding device extracts the pesticide according to the type of the pesticide currently in the medicine box device. pesticides in and/or cleaning of the medicine cabinet device.
  • the medicine box device and the unmanned aerial vehicle or the liquid adding device transmit the plant protection operation information through wireless communication.
  • the medicine box device and the unmanned aerial vehicle or the liquid filling device transmit the plant protection operation information through at least one of optical coupling, inductive coupling, capacitive coupling, and acoustic wave communication.
  • the medicine box device can obtain electrical energy from the unmanned aerial vehicle or the liquid filling device through wireless charging, so as to charge the energy storage component of the medicine box device, the energy storage of the medicine box device The component is used to supply power to the liquid level detection component of the medicine box device.
  • the medicine box device and the unmanned aerial vehicle or the liquid adding device transmit the plant protection operation information through carrier communication.
  • the medicine box device can send the acquired plant protection operation information to the unmanned aerial vehicle detachably connected to the medicine box device, so that the unmanned aerial vehicle can perform the plant protection operation according to the plant protection operation information.
  • Job information to perform plant protection operations It is not necessary to manually confirm whether the medicine box device currently carried by the unmanned aerial vehicle is the medicine box device required for the current operation, and the unmanned aerial vehicle can perform plant protection operations more intelligently, which can save manpower, make the execution process of plant protection operations more accurate, and improve the performance of unmanned aerial vehicles. Efficiency of plant protection operations.
  • FIG. 7 is a schematic flowchart of a control method of a liquid addition device provided by another embodiment of the present application.
  • the control method can be applied to the liquid adding device for processes such as communication with the medicine box device, so that the medicine box device can send relevant information to the unmanned aerial vehicle; wherein the unmanned aerial vehicle can be a rotor-type unmanned aerial vehicle. , such as quad-rotor UAV, hexa-rotor UAV, octa-rotor UAV, or fixed-wing UAV.
  • control method of the liquid adding device of this embodiment includes steps S310 to S320.
  • S320 Send the plant protection operation information to a medicine box device detachably connected to the liquid adding device, so that the medicine box device sends the plant protection operation information to the unmanned aerial vehicle when it is detachably connected to the unmanned aerial vehicle.
  • An unmanned aerial vehicle, and the unmanned aerial vehicle performs plant protection operations according to the plant protection operation information.
  • the plant protection operation information includes at least one of the following: route information of the plant protection operation, identification information of the medicine box device, the type of pesticide in the medicine box device, and the dosage per mu of the pesticide in the medicine box device.
  • the acquiring plant protection operation information includes: acquiring at least one of the following from a terminal device: route information of plant protection operations, identification information of the medicine box device, types of pesticides in the medicine box device, all types of pesticides in the medicine box device. Describe the amount of pesticide per mu in the medicine box device.
  • the acquiring plant protection operation information includes: determining at least one of the following through a human-computer interaction interface: route information of plant protection operations, identification information of the medicine box device, types of pesticides in the medicine box device, all types of pesticides in the medicine box device. Describe the amount of pesticide per mu in the medicine box device.
  • the method further comprises: acquiring liquid level information of the medicine box device and/or prompt information for indicating that the liquid level of the medicine box device reaches a liquid level threshold from the medicine box device;
  • the method further comprises: obtaining the type of pesticide currently in the medicine box device from the medicine box device;
  • the pesticide in the medicine box device is extracted and/or the medicine box device is cleaned according to the type of the pesticide currently in the medicine box device.
  • the liquid adding device and the medicine box device transmit the plant protection operation information through wireless communication.
  • the liquid adding device and the medicine box device transmit the plant protection operation information through at least one of optical coupling, inductive coupling, capacitive coupling, and acoustic wave communication.
  • the liquid adding device can wirelessly charge the energy storage component of the medicine box device, and the energy storage component of the medicine box device is used to supply power to the liquid level detection component of the medicine box device.
  • the liquid adding device and the medicine box device transmit the plant protection operation information through carrier communication.
  • the embodiment of the present application provides a control method for a liquid adding device
  • the liquid adding device can send plant protection operation information to a medicine box device detachably connected to the liquid adding device, so that the medicine box device can be connected to the unmanned aerial vehicle.
  • the plant protection operation information is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle performs the plant protection operation according to the plant protection operation information. It is not necessary to manually confirm whether the medicine box device currently carried by the unmanned aerial vehicle is the medicine box device required for the current operation, and the unmanned aerial vehicle can perform plant protection operations more intelligently, which can save manpower, make the execution process of plant protection operations more accurate, and improve the performance of unmanned aerial vehicles. Efficiency of plant protection operations.
  • FIG. 8 is a schematic block diagram of an unmanned aerial vehicle 500 provided by an embodiment of the present application.
  • the UAV 500 may be a rotary-wing UAV, such as a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV.
  • the unmanned aerial vehicle 500 includes:
  • the rack 110 includes a medicine box mounting portion 111 for placing the medicine box device
  • a power system 120 mounted on the frame 110, for providing flight power
  • the spray system 130 is used to spray the pesticide in the medicine box device.
  • the unmanned aerial vehicle 500 can be detachably connected to the medicine cabinet device.
  • the unmanned aerial vehicle 500 also includes one or more processors 501, which work individually or collectively for executing the steps of the aforementioned control method of the unmanned aerial vehicle.
  • UAV 500 also includes memory 502 .
  • processor 501 and the memory 502 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 501 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 502 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 502 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 501 is configured to run the computer program stored in the memory 502, and implement the steps of the aforementioned control method of the unmanned aerial vehicle when the computer program is executed.
  • the processor 501 is configured to run the computer program stored in the memory 502, and implement the following steps when executing the computer program:
  • the power system and the spraying system are controlled to perform plant protection operations according to the plant protection operation information.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the computer program is executed by a processor, the processor implements the The steps of the control method of the unmanned aerial vehicle provided by the above embodiments.
  • the computer-readable storage medium may be an internal storage unit of the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory of the unmanned aerial vehicle.
  • the computer-readable storage medium may also be an external storage device of the unmanned aerial vehicle, such as a plug-in hard disk equipped on the unmanned aerial vehicle, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.
  • FIG. 9 is a schematic block diagram of a medicine box device 600 for an unmanned aerial vehicle provided by an embodiment of the present application.
  • the medicine box device 600 includes:
  • the water tank 210 is used for holding pesticides
  • the liquid level detection component 230 powered by the energy storage component 220, is used for detecting the liquid level information of the pesticide in the water tank.
  • the medicine box device 600 can be detachably connected to an unmanned aerial vehicle or a liquid filling device.
  • the medicine box device 600 further includes one or more processors 601, and the one or more processors 601 work individually or collectively to execute the steps of the aforementioned control method of the medicine box device.
  • the medicine cabinet device 600 further includes a memory 602 .
  • processor 601 and the memory 602 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 601 is used for running the computer program stored in the memory 602, and when executing the computer program, implements the steps of the aforementioned control method of the medicine box device.
  • the processor 601 is configured to run the computer program stored in the memory 602, and implement the following steps when executing the computer program:
  • the plant protection operation information is sent to the unmanned aerial vehicle detachably connected to the medicine box device, so that the unmanned aerial vehicle performs plant protection operation according to the plant protection operation information.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to realize the functions of the medicine box device provided in the foregoing embodiments.
  • the steps of the control method are described in detail below.
  • the computer-readable storage medium may be an internal storage unit of the medicine box device described in any of the foregoing embodiments, such as a hard disk or a memory of the medicine box device.
  • the computer-readable storage medium may also be an external storage device of the medicine box device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) equipped on the medicine box device , SD) card, flash memory card (Flash Card), etc.
  • FIG. 10 is a schematic block diagram of a liquid adding device 700 provided by an embodiment of the present application.
  • the liquid adding device 700 includes:
  • the base 310 includes a medicine box mounting portion 311 for placing the medicine box device
  • the liquid adding assembly 320 is installed on the base 310 and is used for filling pesticides into the medicine box device.
  • the liquid adding device 700 can be detachably connected with the medicine box device.
  • the liquid addition device 700 further includes one or more processors 701, and the one or more processors 701 work individually or together to execute the steps of the aforementioned control method of the liquid addition device.
  • the liquid adding device 700 further includes a storage 702 .
  • processor 701 and the memory 702 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 701 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 701 is used for running the computer program stored in the memory 702, and when executing the computer program, realizes the steps of the aforementioned control method of the liquid adding device.
  • the processor 701 is configured to run the computer program stored in the memory 702, and implement the following steps when executing the computer program:
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the computer program is executed by a processor, the processor implements the The steps of the control method of the liquid addition device provided by the above embodiments.
  • the computer-readable storage medium may be an internal storage unit of the liquid dosing device described in any of the foregoing embodiments, such as a hard disk or a memory of the liquid dosing device.
  • the computer-readable storage medium can also be an external storage device of the liquid adding device, such as a plug-in hard disk equipped on the liquid adding device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.
  • the embodiments of the present application further provide a plant protection system.
  • the plant protection system includes an unmanned aerial vehicle and a medicine box device, and the medicine box device is detachably connected to the unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a frame, a power system and a spraying system, and a first wireless charging assembly is arranged on the frame;
  • the medicine box device includes: a water tank, an energy storage assembly, a liquid level detection assembly, a memory and a second wireless charging assembly;
  • the plant protection system further includes a liquid adding device, and the medicine box device can be detachably connected with the liquid adding device.
  • the liquid adding device includes a base and a liquid adding assembly, and a third wireless charging assembly is arranged on the base.
  • the medicine box device transmits energy through the third wireless charging component, and the medicine box device receives the energy emitted by the third wireless charging component through the second wireless charging component, and stores the energy in the energy storage component Among them, the energy storage component is used as the power supply of the medicine box device, and can at least supply power to the liquid level detection component.
  • the medicine box device can also transmit plant protection operation information with the unmanned aerial vehicle or the liquid filling device through wireless communication, for example, transmit plant protection operation information through at least one of optical coupling, inductive coupling, capacitive coupling, and acoustic wave communication.
  • the plant protection operation information can be transmitted by means of carrier wave communication, so as to transmit the plant protection operation information when the medicine box device is wirelessly charged.
  • the plant protection system includes the aforementioned unmanned aerial vehicle 500 and the aforementioned medicine box device 600 , and the medicine box device 600 can be detachably connected to the unmanned aerial vehicle 500 .
  • the plant protection system further includes the aforementioned liquid adding device 700 , and the medicine box device 600 can be detachably connected to the liquid adding device 700 .

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

提供了一种无人飞行器的控制方法，包括：获取药箱装置(200)发送的植保作业信息，药箱装置(200)与无人飞行器(100)可拆卸式连接(S110)；根据植保作业信息执行植保作业(S120)；能够提高无人飞行器(100)进行植保作业的效率；还提供了无人飞行器(100)，药箱装置(200)、加液装置(300)及控制方法、植保系统。

Description

无人飞行器、药箱装置、加液装置及控制方法、植保系统 技术领域
本申请涉及无人飞行器植保技术领域，尤其涉及一种无人飞行器、药箱装置、加液装置及控制方法、植保系统。
背景技术
随着科技水平的不断提高，无人飞行器越来越多的出现在了人们的工作和生活的各个领域之中。
无人飞行器可以用于进行喷药或灌溉等农业植保作业。其中，无人飞行器上可以携带水箱或药箱，并在飞行过程中对下方的农田进行喷药或者灌溉。但是在进行植保作业时，需要对无人飞行器进行作业设置，以及人工确认无人飞行器当前携带的药箱是否是当前作业需要的药箱。
发明内容
本申请提供了一种无人飞行器、药箱装置、加液装置及控制方法、植保系统，旨在提高无人飞行器进行植保作业的效率。
第一方面，本申请实施例提供了一种无人飞行器的控制方法，包括：
获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接；
根据所述植保作业信息执行植保作业。
第二方面，本申请实施例提供了一种药箱装置的控制方法，包括：
获取植保作业信息；
将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
第三方面，本申请实施例提供了一种加液装置的控制方法，包括：
获取植保作业信息；
向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
第四方面，本申请实施例提供了一种无人飞行器，包括：
机架，包括用于放置药箱装置的药箱安装部；
动力系统，安装在所述机架上，用于提供飞行动力；
喷洒系统，用于喷洒所述药箱装置中的农药；
一个或多个处理器，单独地或共同地工作，用于执行：
获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接；
根据所述植保作业信息控制所述动力系统和所述喷洒系统执行植保作业。
第五方面，本申请实施例提供了一种无人飞行器的药箱装置，能够与无人飞行器或者加液装置可拆卸式连接，所述药箱装置包括：
水箱，用于盛装农药；
储能组件，用于储存电量；
液位检测组件，由所述储能组件供电，用于检测所述水箱中农药的液位信息；
一个或多个处理器，单独地或共同地工作，用于执行：
获取植保作业信息；
将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
第六方面，本申请实施例提供了一种无人飞行器的加液装置，包括：
基座，包括用于放置药箱装置的药箱安装部；
加液组件，安装在所述基座上，用于向所述药箱装置中灌装农药；
一个或多个处理器，单独地或共同地工作，用于执行：
获取植保作业信息；
向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
第七方面，本申请实施例提供了一种植保系统，包括前述的无人飞行器，以及前述的药箱装置，所述药箱装置能够与所述无人飞行器可拆卸式连接。
第八方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述的方法。
本申请实施例提供了一种无人飞行器、药箱装置、加液装置及控制方法、植保系统，无人飞行器的控制方法包括：获取药箱装置发送的植保作业信息，药箱装置与无人飞行器可拆卸式连接，根据植保作业信息执行植保作业。可以不用人工确认无人飞行器当前携带的药箱装置是否是当前作业需要的药箱装置，无人飞行器执行植保作业也更加智能，可以节省人力，使得植保作业的执行过程更准确，提高无人飞行器进行植保作业的效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请实施例的公开内容。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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是本申请实施例提供的一种无人飞行器的控制方法的流程示意图；
图2是一实施方式中无人飞行器与药箱装置连接的结构示意图；
图3是一实施方式中药箱装置的结构示意图；
图4a是另一实施方式中无人飞行器与药箱装置连接的结构示意图；
图4b是又一实施方式中无人飞行器与药箱装置连接的结构示意图；
图5a是一实施方式中药箱装置与加液装置连接的结构示意图；
图5b是另一实施方式中药箱装置与加液装置连接的结构示意图；
图6是本申请实施例提供的一种药箱装置的控制方法的流程示意图；
图7是本申请实施例提供的一种加液装置的控制方法的流程示意图；
图8是本申请实施例提供的一种无人飞行器的示意性框图；
图9是本申请实施例提供的一种药箱装置的示意性框图；
图10是本申请实施例提供的一种加液装置的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，图1是本申请实施例提供的一种无人飞行器的控制方法的流程示意图。控制方法可以应用在如图2所示的无人飞行器100中，用于控制无人飞行器100执行植保作业，如喷施农药等过程；其中无人飞行器100可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
示例性的，如图2所示，无人飞行器100能够与药箱装置200可拆卸式连接。无人飞行器100包括机架110、动力系统120和喷洒系统130。其中机架110包括用于放置药箱装置200的药箱安装部111，动力系统120安装在机架110上，用于提供飞行动力，喷洒系统130用于喷洒药箱装置200中的农药。
在一些实施方式中，如图3所示，药箱装置200包括：水箱210、储能组件220以及液位检测组件230。其中，水箱210用于盛装农药，储能组件220用于储存电量，液位检测组件230由储能组件220供电，用于检测水箱210中农药的液位信息。
举例而言，液位检测组件230包括磁感应传感器、浮力件和浮力件上设置的磁性件；浮力件随水箱210中的液面浮动，磁感应传感器检测浮力件的位置来确定液面的位置。
示例性的，磁感应传感器例如包括霍尔器件、干簧管等。例如，液位检测组件230可以包括利用模拟霍尔器件构建的连续式液位计，或者包括利用开关霍尔器件、或者包括利用干簧管构建的分段式液位计。
示例性的，储能组件220、液位检测组件230与水箱210一体设置，药箱装置200与无人飞行器100分离时，液位检测组件230也可以由储能组件220供电，以及检测水箱210中农药的液位信息。
如图1所示，本申请实施例的无人飞行器的控制方法包括步骤S110至步骤S120。
S110、获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接。
在一些实施方式中，药箱装置200还包括存储器，存储器可以用于存储植保作业信息，植保作业信息例如包括水箱210中农药的液位信息。
在一些实施方式中，无人飞行器100与药箱装置200通过无线通信方式传输植保作业信息。
示例性的，无人飞行器100与药箱装置200之间没有电气接触，可以防止药箱装置200与无人飞行器100拔插换药时水溶液引起的短路，从而提高可靠性和安全性。
示例性的，无人飞行器100与药箱装置200通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输植保作业信息，当然也不限于此。
示例性的，如图4a所示，无人飞行器100上设有第一通信组件140a，药箱装置200还包括第二通信组件240a，无人飞行器100和药箱装置200通过第一通信组件140a、第二通信组件240a进行无线通信。举例而言，第一通信组件140a与第二通信组件240a能够通过光耦合、电感耦合、电容耦合或者声波进行无线通信。
示例性的，第一通信组件140a设置在无人飞行器100的药箱安装部111上。举例而言，药箱装置200连接在无人飞行器100的药箱安装部111上时，无人飞行器100的第一通信组件140a与药箱装置200的第二通信组件240a的位置相邻，以提高通信的可靠性。
示例性的，药箱装置200的第二通信组件240a连接储能组件220，由储能组件220供电，将水箱210中农药的液位信息等植保作业信息向无人飞行器100 发送。
举例而言，无人飞行器100的处理器可以通过第一通信组件140a获取药箱装置200发送的植保作业信息，以及根据植保作业信息控制无人飞行器100执行植保作业。该处理器可以包括飞行控制器，也可以包括喷洒系统130中的处理器。
在一些实施方式中，无人飞行器100能够向药箱装置200的储能组件220无线充电，以便储能组件220给药箱装置200的液位检测组件230供电。
示例性的，储能组件220包括以下至少一种：超级电容、锂电池。
示例性的，药箱装置200连接在无人飞行器100的药箱安装部111上时，无人飞行器100能够向药箱装置200的储能组件220无线充电。从而药箱装置200不需要频繁的更换电池，也便于药箱装置200电气部分的隔离和封闭。
示例性的，如图4b所示，无人飞行器100上设有第一无线充电组件140b，药箱装置200还包括第二无线充电组件240b，无人飞行器100通过第一无线充电组件140b发射能量，药箱装置200通过第二无线充电组件240b接收第一无线充电组件140b发射的能量，以及将能量存储在储能组件220中。举例而言，第一无线充电组件140b与第二无线充电组件240b可以通过电磁感应或者磁场共振进行无线充电。
示例性的，第一无线充电组件140b设置在无人飞行器100的药箱安装部111上。举例而言，药箱装置200连接在无人飞行器100的药箱安装部111上时，无人飞行器100的第一无线充电组件140b与药箱装置200的第二无线充电组件240b的位置相邻，以提高无线充电的效率。
在一些实施方式中，无人飞行器100与药箱装置200通过载波通信方式传输植保作业信息。以在无人飞行器100给药箱装置200无线充电时，获取药箱装置200发送的植保作业信息。
示例性的，无人飞行器100的第一通信组件140a和第一无线充电组件140b一体设置，以及药箱装置200的第二通信组件240a和第二无线充电组件240b一体设置，可以简化无人飞行器100和药箱装置200的结构。
示例性的，无人飞行器100的第一通信组件140a和第一无线充电组件140b为同一个，药箱装置200的第二通信组件240a和第二无线充电组件240b为同一个。举例而言，无人飞行器100的第一无线充电组件140b，药箱装置200的 第二无线充电组件240b各自包括线圈和无线充电芯片，可以在无人飞行器100给药箱装置200无线充电时，通过载波通信方式传输植保作业信息。
S120、根据植保作业信息执行植保作业。
通过获取药箱装置200的植保作业信息，以及根据植保作业信息执行植保作业，可以不用人工确认无人飞行器100当前携带的药箱装置200是否是当前作业需要的药箱装置200，也可以不用在无人飞行器100一侧设置植保作业的信息，无人飞行器100执行植保作业也更加智能。例如，可以将药箱装置200连接到任一台无人飞行器100上，该无人飞行器100即可通过药箱装置200的植保作业信息执行植保作业。从而可以节省人力，使得植保作业的执行过程更准确，提高无人飞行器100进行植保作业的效率。
在一些实施方式中，植保作业信息至少包括药箱装置200的液位信息。示例性的，药箱装置200能够通过药箱装置200的液位检测组件230获取药箱装置200的液位信息。
示例性的，根据植保作业信息执行植保作业，包括：根据药箱装置200的液位信息执行返航任务和/或加药任务。可以理解的，液位信息用于控制无人飞行器100执行返航任务和/或加药任务。例如，药箱装置200周期性检测液位信息，以及将液位信息发送给无人飞行器100，无人飞行器100在水箱210中农药的当前液位等于或小于预设的液位下限时，返航至预设位置，例如还可以在预设位置对药箱装置200进行人工加药或自动加药。在加药完成后可以继续执行植保作业。
在一些实施方式中，植保作业信息还包括以下至少一种：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量。示例性的，植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量这些信息可以在药箱装置200连接在无人飞行器100上时传输一次即可。
其中，航线信息用于指示无人飞行器100在执行植保作业时的飞行轨迹。示例性的，根据植保作业信息执行植保作业，包括：根据航线信息对应的轨迹飞行。
其中，药箱装置200的标识信息用于区分不同的药箱装置200，药箱装置200中农药的种类用于指示药箱装置200中当前容纳的农药的种类或者残留的 农药的种类。
示例性的，根据植保作业信息执行植保作业，包括：根据亩用量调整飞行高度、飞行速度、喷洒农药的流量中的至少一种。以便无人飞行器100根据农药的亩用量合理的喷洒农药，提高农药使用效果。
在一些实施方式中，药箱装置200能够获取植保作业信息，以及将植保作业信息发送给与药箱装置200可拆卸式连接的无人飞行器100，以便无人飞行器100根据植保作业信息执行植保作业。
示例性的，药箱装置200能够从终端设备获取以下至少一种：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量。
其中，终端设备可以包括手机、平板电脑、笔记本电脑、台式电脑、遥控器等中的至少一项。示例性的，用户可以在终端设备的交互界面设置以下至少一种植保作业信息：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量；示例性的，终端设备可以根据待作业区域的航测数据规划得到植保作业的航线信息；以及终端设备可以将这些植保作业信息发送给药箱装置200。
示例性的，药箱装置200与终端设备可以进行无线通信。例如，终端设备可以通过药箱装置200的第二通信组件240a向药箱装置200发送相应的植保作业信息。
在一些实施方式中，无人飞行器100还能够向终端设备发送植保作业信息，以使终端设备输出植保作业信息。示例性的，可以将从药箱装置200获取的植保作业信息在终端设备显示，以便查验、收集无人飞行器100实际搭载的药箱装置200的植保作业信息。
在一些实施方式中，无人飞行器100还能够获取终端设备根据作业调整操作发送的作业调整指令，调整植保作业信息。示例性的，用户可以通过终端设备的交互界面进行作业调整，例如修改植保作业的航线、亩用量等，以便无人飞行器100根据调整后的植保作业信息进行植保作业。
在一些实施方式中，药箱装置200能够从加液装置300获取植保作业信息。加液装置300用于向药箱装置200的水箱210加入农药。
在一些实施方式中，如图5a所示，药箱装置200能够与加液装置300可拆 卸式连接。
示例性的，如图5a所示，加液装置300包括基座310以及加液组件320。其中，基座310包括用于放置药箱装置200的药箱安装部311，加液组件320安装在基座310上，用于向药箱装置200中灌装农药。
在一些实施方式中，无人飞行器100的用于放置药箱装置200的药箱安装部111与加液装置300的用于放置药箱装置200的药箱安装部311结构可以相同，例如，药箱装置200可以以相同的方式与无人飞行器100的药箱安装部111，或者与加液装置300的药箱安装部311连接，可以简化结构。
示例性的，药箱装置200能够从与药箱装置200可拆卸式连接的加液装置300获取以下至少一种植保作业信息：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量。
示例性的，药箱装置200连接到加液装置300时，可以从加液装置300获取至少一种植保作业信息，以及将获取的植保作业信息存储在存储器中，以便在药箱装置200连接到无人飞行器100时，将植保作业信息发送给无人飞行器100，从而无人飞行器100可以根据药箱装置200的植保作业信息执行植保作业。
在一些实施方式中，加液装置300与药箱装置200通过无线通信方式传输植保作业信息。
示例性的，加液装置300与药箱装置200之间没有电气接触，可以防止药箱装置200与加液装置300拔插换药时水溶液引起的短路，从而提高可靠性和安全性。
示例性的，加液装置300与药箱装置200通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输植保作业信息，当然也不限于此。
示例性的，如图5a所示，加液装置300上设有第三通信组件330a，药箱装置200还包括第二通信组件240a，加液装置300与药箱装置200通过第三通信组件330a、第二通信组件240a进行无线通信。举例而言，第三通信组件330a与第二通信组件240a能够通过光耦合、电感耦合、电容耦合或者声波进行无线通信。
示例性的，第三通信组件330a设置在加液装置300的药箱安装部311上。举例而言，药箱装置200连接在加液装置300的药箱安装部311上时，加液装置300的第三通信组件330a与药箱装置200的第二通信组件240a的位置相邻， 以提高通信的可靠性。
示例性的，药箱装置200的第二通信组件240a连接储能组件220，由储能组件220供电，从加液装置300获取植保作业信息，以及将获取的植保作业信息保存在存储器中。
在一些实施方式中，加液装置300能够向药箱装置200的储能组件220无线充电，药箱装置200的储能组件220用于给药箱装置200的液位检测组件230供电。
示例性的，药箱装置200连接在加液装置300的药箱安装部311上时，加液装置300能够向药箱装置200的储能组件220无线充电。从而药箱装置200不需要频繁的更换电池，也便于药箱装置200电气部分的隔离和封闭。
示例性的，如图5b所示，加液装置300上设有第三无线充电组件330b，药箱装置200还包括第二无线充电组件240b，加液装置300通过第三无线充电组件330b发射能量，药箱装置200通过第二无线充电组件240b接收第三无线充电组件330b发射的能量，以及将能量存储在储能组件220中。举例而言，第三无线充电组件330b与第二无线充电组件240b可以通过电磁感应或者磁场共振进行无线充电。
示例性的，第三无线充电组件330b设置在加液装置300的药箱安装部311上。举例而言，药箱装置200连接在加液装置300的药箱安装部311上时，加液装置300的第三无线充电组件330b与药箱装置200的第二无线充电组件240b的位置相邻，以提高无线充电的效率。
示例性的，加液装置300与药箱装置200通过载波通信方式传输植保作业信息。以在加液装置300给药箱装置200无线充电时，将植保作业信息发送给药箱装置200进行存储。
示例性的，加液装置300的第三通信组件330a和第三无线充电组件330b一体设置，以及药箱装置200的第二通信组件240a和第二无线充电组件240b一体设置，可以简化加液装置300和药箱装置200的结构。
示例性的，加液装置300的第三通信组件330a和第三无线充电组件330b为同一个，药箱装置200的第二通信组件240a和第二无线充电组件240b为同一个。举例而言，加液装置300的第三无线充电组件330b，药箱装置200的第二无线充电组件240b各自包括线圈和无线充电芯片，可以在加液装置300给药 箱装置200无线充电时，通过载波通信方式传输植保作业信息。
示例性的，加液装置300可以从终端设备获取以下至少一种植保作业信息：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量。示例性的，用户可以在终端设备的交互界面设置至少一种植保作业信息；示例性的，终端设备可以根据待作业区域的航测数据规划得到植保作业的航线信息；以及终端设备可以将这些植保作业信息发送给加液装置300。
示例性的，加液装置300或者终端设备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的种类、亩用量等信息，或者通过射频识别农药的外包装的电子标签获取农药的种类亩用量等信息。举例而言，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，电子标签包括以下一项或更多项：RFID标签、NFC标签。
示例性的，加液装置300可以通过加液装置300的人机交互界面确定以下至少一种：植保作业的航线信息、药箱装置200的标识信息、药箱装置200中农药的种类、药箱装置200中农药的亩用量。
示例性的，加液装置300可以根据待作业区域的航测数据规划得到植保作业的航线信息。
在一些实施方式中，药箱装置200可以向加液装置300发送药箱装置200的液位信息和/或用于指示药箱装置200的液位达到液位阈值的提示信息，以便加液装置300根据药箱装置200的液位信息和/或提示信息停止向药箱装置200的水箱210加入农药。加液装置300向药箱装置200加药时，可以确定药箱装置200当前的液位是否达到液位阈值，以及在达到液位阈值时停止加药，防止加药过量。
示例性的，药箱装置200的液位检测组件230可以由储能组件220供电，检测水箱210中农药的液位信息。
在一些实施方式中，药箱装置200可以向加液装置300发送当前药箱装置200中的农药的种类。加液装置300从药箱装置200获取当前药箱装置200中的农药的种类，以及根据当前药箱装置200中的农药的种类抽取药箱装置200中的农药和/或对药箱装置200进行清洗。
示例性的，药箱装置200连接加液装置300时，药箱装置200通过无线通 信方式将存储器存储的农药的种类等信息发送给加液装置300，可以根据农药的种类向药箱装置200加入相应的农药，或者将不需要的农药抽取出来，并对药箱装置200进行清洗。
示例性的，加液装置300可以对清洗后的药箱装置200加入农药，并向药箱装置200发送当前的植保作业信息，以便药箱装置200更新存储器存储的植保作业信息。
在一些实施方式中，加液装置300和/或终端设备可以自动确定植保作业信息，以及在向药箱装置200加药时将植保作业信息发送给对应的药箱装置200存储，药箱装置200还可以由储能组件220供电，以及检测药箱装置200的剩余药量等植保作业信息，以便在药箱装置200连接到无人飞行器100时，将植保作业信息发送给无人飞行器100，从而无人飞行器100可以根据药箱装置200的植保作业信息执行植保作业。加液装置300和无人飞行器100都可以向药箱装置200的储能组件220充电，解决了药箱装置200的供电问题。在一些实施方式中，加液装置300、药箱装置200和无人飞行器100可以自行合作完成植保作业，实现无人参与的植保作业。
本申请实施例提供的无人飞行器的控制方法，包括：获取药箱装置发送的植保作业信息，药箱装置与无人飞行器可拆卸式连接，根据植保作业信息执行植保作业。可以不用人工确认无人飞行器当前携带的药箱装置是否是当前作业需要的药箱装置，无人飞行器执行植保作业也更加智能，可以节省人力，使得植保作业的执行过程更准确，提高无人飞行器进行植保作业的效率。
请结合前述实施例参阅图6，图6是本申请另一实施例提供的一种药箱装置的控制方法的流程示意图。所述控制方法可以应用在药箱装置中，用于与无人飞行器进行通信等过程；其中无人飞行器可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
如图6所示，本实施例的药箱装置的控制方法包括步骤S210至步骤S220。
S210、获取植保作业信息；
S220、将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
在一些实施方式中，所述获取植保作业信息，包括：通过所述药箱装置的液位检测组件获取所述药箱装置的液位信息，所述液位信息用于控制所述无人 飞行器执行返航任务和/或加药任务。
示例性的，所述植保作业信息还包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
示例性的，所述获取植保作业信息，包括：从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
示例性的，所述获取植保作业信息，包括：从与所述药箱装置可拆卸式连接的加液装置获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量，所述加液装置用于向所述药箱装置的水箱加入农药。
示例性的，，所述方法还包括：向所述加液装置发送所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息，以便所述加液装置停止向所述药箱装置的水箱加入农药。
示例性的，所述方法还包括：向所述加液装置发送当前所述药箱装置中的农药的种类，以便所述加液装置根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
在一些实施方式中，所述药箱装置与所述无人飞行器或者加液装置通过无线通信方式传输所述植保作业信息。
示例性的，所述药箱装置与所述无人飞行器或者加液装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
在一些实施方式中，所述药箱装置能够通过无线充电方式从所述无人飞行器或者加液装置获取电能，以给所述药箱装置的储能组件充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
示例性的，所述药箱装置与所述无人飞行器或者加液装置通过载波通信方式传输所述植保作业信息。
本申请实施例提供的药箱装置的控制方法，药箱装置能够将获取的植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。可以不用人工确认无人飞行器当前携带的药箱装置是否是当前作业需要的药箱装置，无人飞行器执行植保作业也更 加智能，可以节省人力，使得植保作业的执行过程更准确，提高无人飞行器进行植保作业的效率。
请结合前述实施例参阅图7，图7是本申请另一实施例提供的一种加液装置的控制方法的流程示意图。所述控制方法可以应用在加液装置中，用于与药箱装置进行通信等过程，以使药箱装置可以向无人飞行器发送相关信息等过程；其中无人飞行器可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
如图7所示，本实施例的加液装置的控制方法包括步骤S310至步骤S320。
S310、获取植保作业信息；
S320、向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
所述植保作业信息包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
在一些实施方式中，所述获取植保作业信息，包括：从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
示例性的，所述获取植保作业信息，包括：通过人机交互界面确定以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
在一些实施方式中，所述方法还包括：从所述药箱装置获取所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息；
根据所述药箱装置的液位信息和/或所述提示信息停止向所述药箱装置的水箱加入农药。
在一些实施方式中，所述方法还包括：从所述药箱装置获取当前所述药箱装置中的农药的种类；
根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
在一些实施方式中，所述加液装置与所述药箱装置通过无线通信方式传输所述植保作业信息。
示例性的，所述加液装置与所述药箱装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
在一些实施方式中，所述加液装置能够向所述药箱装置的储能组件无线充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
示例性的，所述加液装置与所述药箱装置通过载波通信方式传输所述植保作业信息。
本申请实施例提供的加液装置的控制方法，加液装置能够将植保作业信息向与所述加液装置可拆卸式连接的药箱装置发送，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。可以不用人工确认无人飞行器当前携带的药箱装置是否是当前作业需要的药箱装置，无人飞行器执行植保作业也更加智能，可以节省人力，使得植保作业的执行过程更准确，提高无人飞行器进行植保作业的效率。
请参阅图8，图8是本申请实施例提供的无人飞行器500的示意性框图。示例性的，无人飞行器500可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
如图8所示，无人飞行器500包括：
机架110，包括用于放置药箱装置的药箱安装部111；
动力系统120，安装在机架110上，用于提供飞行动力；
喷洒系统130，用于喷洒药箱装置中的农药。
在一些实施方式中，无人飞行器500能够与药箱装置可拆卸式连接。
该无人飞行器500还包括一个或多个处理器501，一个或多个处理器501单独地或共同地工作，用于执行前述的无人飞行器的控制方法的步骤。
示例性的，无人飞行器500还包括存储器502。
示例性的，处理器501和存储器502通过总线连接，该总线比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器501可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器502可以是Flash芯片、只读存储器(ROM，Read-Only Memory) 磁盘、光盘、U盘或移动硬盘等。
其中，处理器501用于运行存储在存储器502中的计算机程序，并在执行计算机程序时实现前述的无人飞行器的控制方法的步骤。
示例性的，处理器501用于运行存储在存储器502中的计算机程序，并在执行计算机程序时实现如下步骤：
获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接；
根据所述植保作业信息控制所述动力系统和所述喷洒系统执行植保作业。
本申请实施例提供的无人飞行器的具体原理和实现方式均与前述实施例的无人飞行器的控制方法类似，此处不再赘述。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的无人飞行器的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的无人飞行器的内部存储单元，例如所述无人飞行器的硬盘或内存。所述计算机可读存储介质也可以是所述无人飞行器的外部存储设备，例如所述无人飞行器上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
请结合上述实施例参阅图9，图9是本申请实施例提供的无人飞行器的药箱装置600的示意性框图。
如图9所示，药箱装置600包括：
水箱210，用于盛装农药；
储能组件220，用于储存电量；
液位检测组件230，由储能组件220供电，用于检测水箱中农药的液位信息。
在一些实施方式中，药箱装置600能够与无人飞行器或者加液装置可拆卸式连接。
该药箱装置600还包括一个或多个处理器601，一个或多个处理器601单独地或共同地工作，用于执行前述的药箱装置的控制方法的步骤。
示例性的，药箱装置600还包括存储器602。
示例性的，处理器601和存储器602通过总线连接，该总线比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器601可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器602可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，处理器601用于运行存储在存储器602中的计算机程序，并在执行计算机程序时实现前述的药箱装置的控制方法的步骤。
示例性的，处理器601用于运行存储在存储器602中的计算机程序，并在执行计算机程序时实现如下步骤：
获取植保作业信息；
将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
本申请实施例提供的药箱装置的具体原理和实现方式均与前述实施例的药箱装置的控制方法类似，此处不再赘述。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的药箱装置的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的药箱装置的内部存储单元，例如所述药箱装置的硬盘或内存。所述计算机可读存储介质也可以是所述药箱装置的外部存储设备，例如所述药箱装置上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
请结合前述实施例参阅图10，图10是本申请实施例提供的加液装置700的示意性框图。
如图10所示，加液装置700包括：
基座310，包括用于放置药箱装置的药箱安装部311；
加液组件320，安装在基座310上，用于向药箱装置中灌装农药。
示例性的，加液装置700能够与药箱装置可拆卸式连接。
该加液装置700还包括一个或多个处理器701，一个或多个处理器701单独地或共同地工作，用于执行前述的加液装置的控制方法的步骤。
示例性的，加液装置700还包括存储器702。
示例性的，处理器701和存储器702通过总线连接，该总线比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器701可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器702可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，处理器701用于运行存储在存储器702中的计算机程序，并在执行计算机程序时实现前述的加液装置的控制方法的步骤。
示例性的，处理器701用于运行存储在存储器702中的计算机程序，并在执行计算机程序时实现如下步骤：
获取植保作业信息；
向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
本申请实施例提供的加液装置的具体原理和实现方式均与前述实施例的加液装置的控制方法类似，此处不再赘述。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的加液装置的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的加液装置的内部存储单元，例如所述加液装置的硬盘或内存。所述计算机可读存储介质也可以是所述加液装置的外部存储设备，例如所述加液装置上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
请结合上述实施例，本申请实施例还提供了一种植保系统。
在一些实施方式中，植保系统包括无人飞行器和药箱装置，药箱装置与无 人飞行器可拆卸式连接。无人飞行器包括机架、动力系统和喷洒系统，机架上设有第一无线充电组件；药箱装置包括：水箱、储能组件、液位检测组件，以及存储器和第二无线充电组件；药箱装置连接在无人飞行器上时，无人飞行器通过第一无线充电组件发射能量，药箱装置通过第二无线充电组件接收第一无线充电组件发射的能量，以及将能量存储在储能组件中，储能组件作为药箱装置的电源，至少能够给液位检测组件供电。
在一些实施方式中，植保系统还包括加液装置，药箱装置能够与加液装置可拆卸式连接。加液装置包括基座以及加液组件，基座上设有第三无线充电组件。药箱装置连接在加液装置上时，加液装置通过第三无线充电组件发射能量，药箱装置通过第二无线充电组件接收第三无线充电组件发射的能量，以及将能量存储在储能组件中，储能组件作为药箱装置的电源，至少能够给液位检测组件供电。
在一些实施方式中，药箱装置还能够与无人飞行器或者加液装置通过无线通信方式传输植保作业信息，例如通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输植保作业信息，示例性的，可以通过载波通信方式传输植保作业信息，以便在给药箱装置无线充电时，传输植保作业信息。
示例性的，植保系统包括前述的无人飞行器500，以及前述的药箱装置600，所述药箱装置600能够与所述无人飞行器500可拆卸式连接。
在一些实施方式中，植保系统还包括前述的加液装置700，所述药箱装置600能够与所述加液装置700可拆卸式连接。
应当理解，在此本申请中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (64)

  1. 一种无人飞行器的控制方法，其特征在于，包括：
    获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接；
    根据所述植保作业信息执行植保作业。
  2. 根据权利要求1所述的控制方法，其特征在于，所述植保作业信息至少包括所述药箱装置的液位信息，所述根据所述植保作业信息执行植保作业，包括：
    根据所述药箱装置的液位信息执行返航任务和/或加药任务。
  3. 根据权利要求1或2所述的控制方法，其特征在于，所述植保作业信息还包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  4. 根据权利要求3所述的控制方法，其特征在于，所述根据所述植保作业信息执行植保作业，包括：
    根据所述航线信息对应的轨迹飞行；和/或
    根据所述亩用量调整飞行高度、飞行速度、喷洒农药的流量中的至少一种。
  5. 根据权利要求1-4中任一项所述的控制方法，其特征在于，所述方法还包括：
    向终端设备发送所述植保作业信息，以使所述终端设备输出所述植保作业信息。
  6. 根据权利要求5所述的控制方法，其特征在于，所述方法还包括：
    获取所述终端设备根据作业调整操作发送的作业调整指令，调整所述植保作业信息。
  7. 根据权利要求1-6中任一项所述的控制方法，其特征在于，所述无人飞行器与所述药箱装置通过无线通信方式传输所述植保作业信息。
  8. 根据权利要求7所述的控制方法，其特征在于，所述无人飞行器与所述药箱装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  9. 根据权利要求1-8中任一项所述的控制方法，其特征在于，所述无人飞行器能够向所述药箱装置的储能组件无线充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  10. 根据权利要求9所述的控制方法，其特征在于，所述无人飞行器与所述药箱装置通过载波通信方式传输所述植保作业信息。
  11. 一种药箱装置的控制方法，其特征在于，包括：
    获取植保作业信息；
    将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
  12. 根据权利要求11所述的控制方法，其特征在于，所述获取植保作业信息，包括：
    通过所述药箱装置的液位检测组件获取所述药箱装置的液位信息，所述液位信息用于控制所述无人飞行器执行返航任务和/或加药任务。
  13. 根据权利要求11或12所述的控制方法，其特征在于，所述植保作业信息还包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  14. 根据权利要求13所述的控制方法，其特征在于，所述获取植保作业信息，包括：
    从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  15. 根据权利要求13所述的控制方法，其特征在于，所述获取植保作业信息，包括：
    从与所述药箱装置可拆卸式连接的加液装置获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量，所述加液装置用于向所述药箱装置的水箱加入农药。
  16. 根据权利要求15所述的控制方法，其特征在于，所述方法还包括：
    向所述加液装置发送所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息，以便所述加液装置停止向所述药箱装置的水箱加入农药。
  17. 根据权利要求15所述的控制方法，其特征在于，所述方法还包括：
    向所述加液装置发送当前所述药箱装置中的农药的种类，以便所述加液装置根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
  18. 根据权利要求11-17中任一项所述的控制方法，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过无线通信方式传输所述植保作业信息。
  19. 根据权利要求18所述的控制方法，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  20. 根据权利要求11-19中任一项所述的控制方法，其特征在于，所述药箱装置能够通过无线充电方式从所述无人飞行器或者加液装置获取电能，以给所述药箱装置的储能组件充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  21. 根据权利要求20所述的控制方法，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过载波通信方式传输所述植保作业信息。
  22. 一种加液装置的控制方法，其特征在于，包括：
    获取植保作业信息；
    向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
  23. 根据权利要求22所述的控制方法，其特征在于，所述植保作业信息包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  24. 根据权利要求23所述的控制方法，其特征在于，所述获取植保作业信息，包括：
    从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  25. 根据权利要求23所述的控制方法，其特征在于，所述获取植保作业信息，包括：
    通过人机交互界面确定以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  26. 根据权利要求22-25中任一项所述的控制方法，其特征在于，所述方法还包括：
    从所述药箱装置获取所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息；
    根据所述药箱装置的液位信息和/或所述提示信息停止向所述药箱装置的水箱加入农药。
  27. 根据权利要求22-26中任一项所述的控制方法，其特征在于，所述方法还包括：
    从所述药箱装置获取当前所述药箱装置中的农药的种类；
    根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
  28. 根据权利要求22-27中任一项所述的控制方法，其特征在于，所述加液装置与所述药箱装置通过无线通信方式传输所述植保作业信息。
  29. 根据权利要求28所述的控制方法，其特征在于，所述加液装置与所述药箱装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  30. 根据权利要求22-29中任一项所述的控制方法，其特征在于，所述加液装置能够向所述药箱装置的储能组件无线充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  31. 根据权利要求30所述的控制方法，其特征在于，所述加液装置与所述药箱装置通过载波通信方式传输所述植保作业信息。
  32. 一种无人飞行器，其特征在于，包括：
    机架，包括用于放置药箱装置的药箱安装部；
    动力系统，安装在所述机架上，用于提供飞行动力；
    喷洒系统，用于喷洒所述药箱装置中的农药；
    一个或多个处理器，单独地或共同地工作，用于执行：
    获取药箱装置发送的植保作业信息，所述药箱装置与所述无人飞行器可拆卸式连接；
    根据所述植保作业信息控制所述动力系统和所述喷洒系统执行植保作业。
  33. 根据权利要求32所述的无人飞行器，其特征在于，所述植保作业信息 至少包括所述药箱装置的液位信息，所述处理器执行所述根据所述植保作业信息控制所述动力系统和所述喷洒系统执行植保作业时，用于执行：
    根据所述药箱装置的液位信息执行返航任务和/或加药任务。
  34. 根据权利要求32或33所述的无人飞行器，其特征在于，所述植保作业信息还包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  35. 根据权利要求34所述的无人飞行器，其特征在于，所述处理器执行所述根据所述植保作业信息控制所述动力系统和所述喷洒系统执行植保作业时，用于执行：
    根据所述航线信息对应的轨迹飞行；和/或
    根据所述亩用量调整飞行高度、飞行速度、喷洒农药的流量中的至少一种。
  36. 根据权利要求32-35中任一项所述的无人飞行器，其特征在于，所述处理器还用于执行：
    向终端设备发送所述植保作业信息，以使所述终端设备输出所述植保作业信息。
  37. 根据权利要求36所述的无人飞行器，其特征在于，所述处理器还用于执行：
    获取所述终端设备根据作业调整操作发送的作业调整指令，调整所述植保作业信息。
  38. 根据权利要求32-37中任一项所述的无人飞行器，其特征在于，所述无人飞行器与所述药箱装置通过无线通信方式传输所述植保作业信息。
  39. 根据权利要求38所述的无人飞行器，其特征在于，所述无人飞行器与所述药箱装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  40. 根据权利要求32-39中任一项所述的无人飞行器，其特征在于，所述无人飞行器能够向所述药箱装置的储能组件无线充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  41. 根据权利要求40所述的无人飞行器，其特征在于，所述无人飞行器与所述药箱装置通过载波通信方式传输所述植保作业信息。
  42. 一种无人飞行器的药箱装置，其特征在于，能够与无人飞行器或者加液 装置可拆卸式连接，所述药箱装置包括：
    水箱，用于盛装农药；
    储能组件，用于储存电量；
    液位检测组件，由所述储能组件供电，用于检测所述水箱中农药的液位信息；
    一个或多个处理器，单独地或共同地工作，用于执行：
    获取植保作业信息；
    将所述植保作业信息发送给与所述药箱装置可拆卸式连接的无人飞行器，以便所述无人飞行器根据所述植保作业信息执行植保作业。
  43. 根据权利要求42所述的药箱装置，其特征在于，所述处理器执行获取植保作业信息时，用于执行：
    通过所述药箱装置的液位检测组件获取所述药箱装置的液位信息，所述液位信息用于控制所述无人飞行器执行返航任务和/或加药任务。
  44. 根据权利要求42或43所述的药箱装置，其特征在于，所述植保作业信息还包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  45. 根据权利要求44所述的药箱装置，其特征在于，所述处理器执行获取植保作业信息时，用于执行：
    从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  46. 根据权利要求44所述的药箱装置，其特征在于，所述处理器执行获取植保作业信息时，用于执行：
    从与所述药箱装置可拆卸式连接的加液装置获取以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量，所述加液装置用于向所述药箱装置的水箱加入农药。
  47. 根据权利要求46所述的药箱装置，其特征在于，所述处理器还用于执行：
    向所述加液装置发送所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息，以便所述加液装置停止向所述药箱装置的水箱加入农药。
  48. 根据权利要求46所述的药箱装置，其特征在于，所述处理器还用于执行：
    向所述加液装置发送当前所述药箱装置中的农药的种类，以便所述加液装置根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
  49. 根据权利要求42-48中任一项所述的药箱装置，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过无线通信方式传输所述植保作业信息。
  50. 根据权利要求49所述的药箱装置，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  51. 根据权利要求42-50中任一项所述的药箱装置，其特征在于，所述药箱装置能够通过无线充电方式从所述无人飞行器或者加液装置获取电能，以给所述药箱装置的储能组件充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  52. 根据权利要求51所述的药箱装置，其特征在于，所述药箱装置与所述无人飞行器或者加液装置通过载波通信方式传输所述植保作业信息。
  53. 一种无人飞行器的加液装置，其特征在于，包括：
    基座，包括用于放置药箱装置的药箱安装部；
    加液组件，安装在所述基座上，用于向所述药箱装置中灌装农药；
    一个或多个处理器，单独地或共同地工作，用于执行：
    获取植保作业信息；
    向与所述加液装置可拆卸式连接的药箱装置发送所述植保作业信息，以便所述药箱装置在与无人飞行器可拆卸式连接时将所述植保作业信息发送给所述无人飞行器，以及所述无人飞行器根据所述植保作业信息执行植保作业。
  54. 根据权利要求53所述的加液装置，其特征在于，所述植保作业信息包括以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  55. 根据权利要求54所述的加液装置，其特征在于，所述处理器执行获取植保作业信息时，用于执行：
    从终端设备获取以下至少一种：植保作业的航线信息、所述药箱装置的标 识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  56. 根据权利要求54所述的加液装置，其特征在于，所述处理器执行获取植保作业信息时，用于执行：
    通过人机交互界面确定以下至少一种：植保作业的航线信息、所述药箱装置的标识信息、所述药箱装置中农药的种类、所述药箱装置中农药的亩用量。
  57. 根据权利要求53-56中任一项所述的加液装置，其特征在于，所述处理器还用于执行：
    从所述药箱装置获取所述药箱装置的液位信息和/或用于指示所述药箱装置的液位达到液位阈值的提示信息；
    根据所述药箱装置的液位信息和/或所述提示信息停止向所述药箱装置的水箱加入农药。
  58. 根据权利要求53-57中任一项所述的加液装置，其特征在于，所述处理器还用于执行：
    从所述药箱装置获取当前所述药箱装置中的农药的种类；
    根据当前所述药箱装置中的农药的种类抽取所述药箱装置中的农药和/或对所述药箱装置进行清洗。
  59. 根据权利要求53-58中任一项所述的加液装置，其特征在于，所述加液装置与所述药箱装置通过无线通信方式传输所述植保作业信息。
  60. 根据权利要求59所述的加液装置，其特征在于，所述加液装置与所述药箱装置通过光耦合、电感耦合、电容耦合、声波通信中的至少一种传输所述植保作业信息。
  61. 根据权利要求53-60中任一项所述的加液装置，其特征在于，所述加液装置能够向所述药箱装置的储能组件无线充电，所述药箱装置的储能组件用于给所述药箱装置的液位检测组件供电。
  62. 根据权利要求61所述的加液装置，其特征在于，所述加液装置与所述药箱装置通过载波通信方式传输所述植保作业信息。
  63. 一种植保系统，其特征在于，包括如权利要求32-41所述的无人飞行器，以及如权利要求42-52所述的药箱装置，所述药箱装置能够与所述无人飞行器可拆卸式连接。
  64. 根据权利要求63所述的植保系统，其特征在于，还包括如权利要求 53-62所述的加液装置，所述药箱装置能够与所述加液装置可拆卸式连接。
PCT/CN2021/081176 2021-03-16 2021-03-16 无人飞行器、药箱装置、加液装置及控制方法、植保系统 Ceased WO2022193155A1 (zh)

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