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CN114885606A - Spraying treatment method based on aircraft, control device and medium - Google Patents

Spraying treatment method based on aircraft, control device and medium Download PDF

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Publication number
CN114885606A
CN114885606A CN202080080998.4A CN202080080998A CN114885606A CN 114885606 A CN114885606 A CN 114885606A CN 202080080998 A CN202080080998 A CN 202080080998A CN 114885606 A CN114885606 A CN 114885606A
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China
Prior art keywords
spraying
flight
amplitude information
aircraft
adjustment
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CN202080080998.4A
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CN114885606B (en
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贾向华
闫光
王璐
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Catching Or Destruction (AREA)

Abstract

A spraying treatment method based on an aircraft (101), the aircraft (101), a control device and a medium. The spraying treatment method based on the aircraft (101) comprises the steps of obtaining flight parameters of the aircraft (101) in the spraying operation process of a spraying device; if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; the operation of spraying operation is corrected according to the adjustment parameters, so that the spraying amplitude of a spraying device carried on the aircraft (101) can be effectively improved, and the operation efficiency is improved.

Description

PCT国内申请，说明书已公开。PCT domestic application, the description has been published.

Claims (28)

  1. An aircraft-based spraying treatment method is characterized in that a spraying device is mounted on an aircraft and used for spraying a target area, and the method comprises the following steps:
    acquiring flight parameters of the aircraft in the spraying operation process of the spraying device;
    if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions;
    determining an adjustment parameter of the spraying operation based on the spraying amplitude information;
    carrying out operation control on spraying operation according to the adjusting parameters; the job control includes: flight control of the aircraft and/or control of the spraying amplitude of the spraying device.
  2. The method of claim 1, wherein the flight parameter comprises a flight speed of the aircraft, and the adjustment parameter for the spray operation comprises a flight variation altitude of the aircraft; if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, comprising the following steps:
    if the flying speed of the aircraft meets the adjustment condition, calculating spraying amplitude information corresponding to the flying speed based on the flying speed; wherein, the condition that the flying speed of the aircraft meets the adjustment condition means that the flying speed is less than a speed threshold value;
    obtaining the flight variation height based on the spraying amplitude information;
    performing flight control on the aircraft according to the flight change altitude, wherein the flight control comprises: controlling the flying height of the aircraft.
  3. The method of claim 2, wherein calculating spray amplitude information corresponding to the airspeed based on the airspeed comprises:
    obtaining spraying amplitude information corresponding to the flight speed according to the flight speed of the aircraft and a first calibration calculation rule;
    the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1.
  4. The method of claim 2, wherein said deriving said fly height based on said spray amplitude information comprises:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying change amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjustment condition;
    and calculating to obtain the flight change height of the aircraft according to the spraying change amplitude information and a second calibration calculation rule.
  5. The method of claim 4, wherein the second calibration calculation rule is determined according to M pieces of spraying amplitude information of the spraying device in historical time and the flight height corresponding to each piece of spraying amplitude information; m is an integer greater than 1.
  6. The method of claim 1, wherein the spraying device comprises a spray head for spraying operations; the determining an adjustment parameter of a spraying operation based on the spraying amplitude information comprises:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying variation amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjustment condition, wherein the spraying variation amplitude information is the adjustment parameters of the spraying operation;
    the operation control of the spraying operation according to the adjustment parameters comprises the following steps:
    and adjusting the spray head of the spraying device according to the spraying change amplitude information so that the spraying amplitude information corresponding to the adjusted spraying device is matched with the initial spraying amplitude information.
  7. The method of claim 1, wherein before obtaining the information that the flight parameter satisfies the spraying amplitude of the spraying device under the adjustment condition, the method further comprises:
    generating a notification message and sending the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm that the operation adjustment is performed on the aircraft;
    and if the received response result returned by the control equipment is that the operation adjustment of the aircraft is determined, triggering and executing to obtain the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions.
  8. The method of claim 1, wherein prior to obtaining flight parameters of the aircraft during spraying operations by the spraying device, further comprising:
    acquiring the distance between the aircraft and the flight route endpoint of the target area;
    and if the distance between the aircraft and the flight route end point of the target area is smaller than a distance threshold value, triggering and executing to obtain the flight parameters of the aircraft in the spraying operation process of the spraying device.
  9. The method of claim 1, wherein the flight parameter comprises a flight altitude of the aircraft, and the adjustment parameter for the spray operation comprises a flight variation speed of the aircraft; if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, comprising the following steps:
    if the flying height meets the adjusting condition, calculating the spraying amplitude information corresponding to the flying height based on the flying height; wherein the condition that the flying height of the aircraft meets the adjustment condition means that the flying height is smaller than an altitude threshold value;
    obtaining the flight change speed based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1;
    and carrying out speed operation control on the spraying operation according to the flying change speed.
  10. An aircraft, characterized in that it comprises: a power assembly, a storage device, and a controller; the aircraft is provided with a spraying device, and the spraying device is used for spraying a target area;
    the power assembly is used for driving the aircraft to move;
    program instructions are stored in the storage device;
    the controller, calling the program instructions, is configured to:
    acquiring flight parameters of the aircraft in the spraying operation process of the spraying device;
    if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions;
    determining an adjustment parameter of the spraying operation based on the spraying amplitude information;
    carrying out operation control on spraying operation according to the adjusting parameters; the job control includes: flight control of the aircraft and/or control of the spraying amplitude of the spraying device.
  11. The aircraft of claim 10, wherein the flight parameter comprises a flight speed of the aircraft, and the adjustment parameter for the spray operation comprises a flight variation altitude of the aircraft; when the flight parameters meet the adjustment conditions, the controller acquires the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, and specifically, the method is used for:
    if the flying speed of the aircraft meets the adjustment condition, calculating spraying amplitude information corresponding to the flying speed based on the flying speed; wherein, the condition that the flying speed of the aircraft meets the adjustment condition means that the flying speed is less than a speed threshold value;
    obtaining the flight variation height based on the spraying amplitude information;
    performing flight control on the aircraft according to the flight change altitude, wherein the flight control comprises: controlling the flying height of the aircraft.
  12. The aircraft according to claim 11, wherein the controller is configured to, when calculating the spray amplitude information corresponding to the flight speed based on the flight speed, specifically:
    obtaining spraying amplitude information corresponding to the flight speed according to the flight speed of the aircraft and a first calibration calculation rule;
    the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1.
  13. The aircraft of claim 11, wherein said controller, when deriving said flight variation altitude based on said spray amplitude information, is specifically configured to:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying change amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjustment condition;
    and calculating to obtain the flight change height of the aircraft according to the spraying change amplitude information and a second calibration calculation rule.
  14. The aircraft of claim 13, wherein the second calibration calculation rule is determined according to M pieces of spraying amplitude information of the spraying device in historical time and a flight height corresponding to each piece of spraying amplitude information; m is an integer greater than 1.
  15. The aircraft of claim 10, wherein said spraying device comprises a spray head for spraying operations; the controller is specifically configured to, when determining an adjustment parameter of the spraying operation based on the spraying amplitude information:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying change amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjusting condition, wherein the spraying change amplitude information is the adjusting parameter of the spraying operation;
    the operation control of the spraying operation according to the adjustment parameters comprises the following steps:
    and adjusting the spray head of the spraying device according to the spraying change amplitude information so that the spraying amplitude information corresponding to the adjusted spraying device is matched with the initial spraying amplitude information.
  16. The aircraft of claim 10, wherein before the controller obtains the information that the flight parameter satisfies the spraying amplitude of the spraying device under the adjustment condition, the controller is further configured to:
    generating a notification message and sending the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm that the operation adjustment is performed on the aircraft;
    and if the received response result returned by the control equipment is that the operation adjustment of the aircraft is determined, triggering and executing to obtain the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions.
  17. The aircraft of claim 10, wherein the controller, prior to obtaining the flight parameters of the aircraft during the spraying operation by the spraying device, is further configured to:
    acquiring the distance between the aircraft and the flight route endpoint of the target area;
    and if the distance between the aircraft and the flight route end point of the target area is smaller than a distance threshold value, triggering and executing to obtain the flight parameters of the aircraft in the spraying operation process of the spraying device.
  18. The aircraft of claim 10, wherein the flight parameter comprises a flight altitude of the aircraft, and the adjustment parameter for the spray operation comprises a flight variation speed of the aircraft; when the flight parameters meet the adjustment conditions, the controller acquires the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, and specifically, the method is used for:
    if the flying height meets the adjusting condition, calculating the spraying amplitude information corresponding to the flying height based on the flying height; wherein the condition that the flying height of the aircraft meets the adjustment condition means that the flying height is smaller than an altitude threshold value;
    obtaining the flight change speed based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1;
    and carrying out speed operation control on the spraying operation according to the flying change speed.
  19. A control device, characterized in that the control device comprises: a spray device, a memory, and a processor;
    the spraying device is used for spraying a target area;
    the memory having stored therein a computer program;
    the processor, invoking the computer program, is to:
    acquiring flight parameters of the aircraft in the spraying operation process of the spraying device;
    if the flight parameters meet the adjustment conditions, acquiring the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions;
    determining an adjustment parameter of the spraying operation based on the spraying amplitude information;
    carrying out operation control on spraying operation according to the adjusting parameters; the job control includes: flight control of the aircraft and/or control of the spraying amplitude of the spraying device.
  20. The control apparatus of claim 19, wherein the flight parameter comprises a flight speed of the aircraft, and the adjustment parameter for the spraying operation comprises a flight variation altitude of the aircraft; the processor acquires the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, and specifically, the method is used for:
    if the flying speed of the aircraft meets the adjustment condition, calculating spraying amplitude information corresponding to the flying speed based on the flying speed; wherein, the condition that the flying speed of the aircraft meets the adjustment condition means that the flying speed is less than a speed threshold value;
    obtaining the flight variation height based on the spraying amplitude information;
    performing flight control on the aircraft according to the flight change altitude, wherein the flight control comprises: controlling the flying height of the aircraft.
  21. The control device according to claim 20, wherein the processor, when calculating the spray amplitude information corresponding to the flying speed based on the flying speed, is specifically configured to:
    obtaining spraying amplitude information corresponding to the flight speed according to the flight speed of the aircraft and a first calibration calculation rule;
    the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1.
  22. The control device of claim 20, wherein the processor, when deriving the fly height variation based on the spray amplitude information, is specifically configured to:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying change amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjustment condition;
    and calculating to obtain the flight change height of the aircraft according to the spraying change amplitude information and a second calibration calculation rule.
  23. The control apparatus according to claim 22, wherein the second calibration calculation rule is determined according to M pieces of spraying amplitude information of the spraying apparatus in historical time and a flying height corresponding to each piece of spraying amplitude information; m is an integer greater than 1.
  24. The control device of claim 19, wherein the spray device comprises a spray head for spraying operations; when determining the adjustment parameter of the spraying operation based on the spraying amplitude information, the processor is specifically configured to:
    acquiring initial spraying amplitude information of the spraying device;
    obtaining spraying change amplitude information of the spraying device according to the spraying amplitude information of the spraying device under the condition that the initial spraying amplitude information and the flight parameters meet the adjusting condition, wherein the spraying change amplitude information is the adjusting parameter of the spraying operation;
    the operation control of the spraying operation according to the adjustment parameters comprises the following steps:
    and adjusting the spray head of the spraying device according to the spraying change amplitude information so that the spraying amplitude information corresponding to the adjusted spraying device is matched with the initial spraying amplitude information.
  25. The method of claim 19, wherein the processor, prior to obtaining the spray amplitude information of the spray device when the flight parameter satisfies the adjustment condition, is further configured to:
    generating a notification message and sending the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm that the operation adjustment is performed on the aircraft;
    and if the received response result returned by the control equipment is that the operation adjustment of the aircraft is determined, triggering and executing to obtain the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions.
  26. The control device of claim 19, wherein the processor, prior to obtaining the flight parameters of the aircraft during spraying operations by the spraying device, is further configured to:
    acquiring the distance between the aircraft and the flight route endpoint of the target area;
    and if the distance between the aircraft and the flight route end point of the target area is smaller than a distance threshold value, triggering and executing to obtain the flight parameters of the aircraft in the spraying operation process of the spraying device.
  27. The control device of claim 19, wherein the flight parameter comprises a flight altitude of the aircraft, and the adjustment parameter for the spraying operation comprises a flight variation speed of the aircraft; when the flight parameters meet the adjustment conditions, the processor acquires the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions; determining an adjustment parameter of the spraying operation based on the spraying amplitude information; and carrying out operation control on the spraying operation according to the adjusting parameters, and specifically being used for:
    if the flying height meets the adjusting condition, calculating the spraying amplitude information corresponding to the flying height based on the flying height; wherein the condition that the flying height of the aircraft meets the adjustment condition means that the flying height is smaller than an altitude threshold value;
    obtaining the flight change speed based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; n is an integer greater than 1;
    and carrying out speed operation control on the spraying operation according to the flying change speed.
  28. A computer-readable storage medium having computer-readable instructions stored therein, which, when executed by a processor, cause the processor to perform the aircraft-based spray treatment method of any one of claims 1-9.
CN202080080998.4A 2020-12-07 2020-12-07 Aircraft-based spraying treatment method, aircraft, control device and medium Active CN114885606B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/134313 WO2022120529A1 (en) 2020-12-07 2020-12-07 Aircraft-based spraying treatment method, aircraft, control device, and medium

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CN114885606A true CN114885606A (en) 2022-08-09
CN114885606B CN114885606B (en) 2025-04-04

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CN108536203A (en) * 2018-05-11 2018-09-14 北京农业智能装备技术研究中心 A kind of unmanned plane dispenser control method and system
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CN109240337A (en) * 2018-11-15 2019-01-18 拓攻（南京）机器人有限公司 A kind of unmanned plane plant protection operation method and unmanned plane
CN110196604A (en) * 2019-05-17 2019-09-03 安徽舒州农业科技有限责任公司 A kind of foundation field for plant protection drone intelligently adjusts the method and system of spraying swath

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CN205633061U (en) * 2016-04-29 2016-10-12 洛克希德（武汉）无人机科学研究院有限公司 Intelligence regulation of giving medicine to poor free of charge system for many rotors of remote control plant protection machine
KR20190005207A (en) * 2016-07-12 2019-01-15 얀마 아구리 가부시키가이샤 Dispersion processing device
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Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105292480A (en) * 2015-11-13 2016-02-03 南京衡创天伟无人机技术有限公司 Multi-rotor unmanned aerial vehicle sprinkling system and sprinkling control method
CN105843236A (en) * 2016-03-17 2016-08-10 中山飞旋天行航空科技有限公司 A plant protection drone spraying control system and its spraying control method
CN106240825A (en) * 2016-09-21 2016-12-21 江西天祥通用航空股份有限公司 A kind of airplane spray control method and system
US20180319500A1 (en) * 2017-05-03 2018-11-08 Capstan Ag Systems, Inc. Systems and methods to control aerial distribution of materials
CN108536203A (en) * 2018-05-11 2018-09-14 北京农业智能装备技术研究中心 A kind of unmanned plane dispenser control method and system
CN109240337A (en) * 2018-11-15 2019-01-18 拓攻（南京）机器人有限公司 A kind of unmanned plane plant protection operation method and unmanned plane
CN110196604A (en) * 2019-05-17 2019-09-03 安徽舒州农业科技有限责任公司 A kind of foundation field for plant protection drone intelligently adjusts the method and system of spraying swath

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CN114885606B (en) 2025-04-04
WO2022120529A1 (en) 2022-06-16

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