CN105487551A - Unmanned aerial vehicle-based spray sprinkling control method and control device - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle-based spray sprinkling control method and control device. The control method comprises the following steps that: an unmanned aerial vehicle is controlled to perform spray sprinkling work according to preset flight trajectories; corresponding relations between the actual flight trajectories of the unmanned aerial vehicle and the preset flight trajectories are monitored; and if it is judged that the actual flight trajectories deviate from the preset flight trajectories, the unmanned aerial vehicle is automatically controlled to stop the spray sprinkling work. According to the unmanned aerial vehicle-based spray sprinkling control method and control device of the invention, as for a condition that an unmanned aerial vehicle does not fly according to preset flight paths and is even out of control, the problem of influence on the growth of crops caused by improper dosage sprinkling at local regions can be solved.

Description

A spraying control method and control device based on an unmanned aerial vehicle

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-based spraying control method and control device.

Background technique

At present, the multi-rotor UAV has been greatly developed, and it is favored by both the professional market and the consumer market. The reason why the multi-rotor unmanned aerial vehicle can be developed so rapidly is that the progress of related electronic technology has made the cost of this kind of aircraft rapidly reduced, and at the same time, the safety has been rapidly improved.

Because of its ability to take off and land vertically, flexible flight, and mature control methods, some people have begun to apply it to the field of plant protection; the most important way to use unmanned aerial vehicles in the field of plant protection is to use unmanned aerial vehicles equipped with storage There are spray containers and spraying devices, and then complete the drug spraying task for crops by flying. Since the spraying range of the unmanned aerial vehicle is dense and controllable, and the spray is evenly sprayed, it is not only very safe to use, but also avoids the harm to the human body caused by artificial spraying.

The existing technology has made good improvements on how to meet the demand for pesticides in different regions. For example, Chinese patent document 103719062A discloses a pesticide spraying drone that can accurately apply pesticides. The pesticide spraying drone is equipped with The GPS module and the database storing the spraying amount strategies in different areas are connected to the single-chip microcomputer, the single-chip microcomputer is connected to the alarm module and the display module, and the output control signal of the single-chip computer controls the spraying flow on the spraying pipeline through the RS232 interface Valve, this invention can accurately apply pesticides according to the demand of different regions, thereby improving the utilization efficiency of pesticides, eliminating waste, and avoiding the problem of insufficient pesticide application.

However, one problem is that because wireless communication is currently used to control UAVs flying in the sky, due to some uncontrollable factors such as site or signal interference, sometimes UAVs will lose control or lose control during flight.

Now there are some targeted solutions for the loss of control of unmanned aerial vehicles in the air, such as switching from GPS navigation control mode to manual control mode, or switching from manual control mode to automatic return mode/emergency mode. But one problem is that the spraying route of the spray is often pre-planned, and the best spraying effect can be achieved through the pre-planned route. However, if the unmanned aerial vehicle fails to fly according to the pre-planned route or even has a flight out of control, at that time, it may be possible to regain control of the drone through the control of the pilot, but the control of spraying is often lacking in timeliness and effectiveness , which will lead to the spraying of the spray beyond the pre-designed range, resulting in improper dosage of spray in local areas and affecting the growth of crops.

However, the problem in the above-mentioned scheme is that no matter the GPS navigation control mode or the manual control mode, when the unmanned aerial vehicle loses control in flight or temporarily loses control, there is no way to control the spraying equipment well in time, which leads to Improper spraying of sprays, especially the problem of overspraying of sprays.

Contents of the invention

The purpose of the present invention is to provide a spraying control method and control device based on unmanned aerial vehicles, which can reduce the number of unmanned aerial vehicles that fail to fly according to the pre-planned route or even fly out of control. It is possible to spray pesticides beyond the pre-designed range, thereby reducing the occurrence of problems that may affect crop growth due to improper dosage of sprays in local areas.

In order to solve the problems of the technologies described above, the technical scheme adopted in the present invention is as follows:

A spraying control method based on an unmanned aerial vehicle, comprising the steps of:

Control the UAV to carry out the spraying work according to the preset flight trajectory;

Monitor the correspondence between the actual flight trajectory of the drone and the preset flight trajectory;

If it is determined that the actual flight trajectory deviates from the preset flight trajectory, the automatic control stops the spraying work.

Further, the step of monitoring the correspondence between the actual flight trajectory of the drone and the preset flight trajectory includes:

The actual flight height of the UAV is monitored. If the actual flight height of the UAV exceeds the preset flight height range, it is determined that the actual flight trajectory deviates from the preset flight trajectory. The spraying work of the plant protection drone is closely related to the flying height of the drone during the work process. Monitoring the flying height of the drone can largely reflect the flying state of the drone. When the flying height exceeds the preset When flying in the altitude range, it is obvious that there is a problem with the flight of the drone. At this time, judging that the flight path deviates from the preset flight path and shutting down the spraying work in time can reduce the problem of improper spraying.

Further, the actual flying height of the UAV is monitored and measured in real time through a barometer and/or a rangefinder. The barometer can be used to monitor the absolute flying height of the drone, that is, the altitude, and the rangefinder can be used to monitor the flying height of the drone equivalent to the crop, which can be selected according to different needs; the barometer and the rangefinder The collected data will be used as a reference for judging the shutdown timing of the spraying work, so that the UAV can automatically control the shutdown timing and reduce the problem of improper spray dosage when there are flight problems; of course, the collected data, It can also be used for recording, or feedback to the console or pilot for flight control reference.

Further, the step of monitoring the correspondence between the actual flight trajectory of the drone and the preset flight trajectory includes:

Monitor the actual geographic location reached by the drone, if at the preset flight time node, the drone fails to reach the preset geographic location coordinates and/or the actual geographic location arrived is far from the preset geographic location coordinates If the distance exceeds the preset threshold, it is determined that the actual flight trajectory deviates from the preset flight trajectory. Monitor the actual geographic location of the UAV, that is, monitor whether the spraying progress of the UAV is consistent with the pre-design. If the current flight position is behind the flight position that should arrive at this time point in the preset flight trajectory, it can be judged as the aircraft's There is a problem with the flight speed control. The current flight of the aircraft is too slow, resulting in too much spraying in the unit range. It should be adjusted. This can be used as the timing to shut down the spraying work, which can reduce the occurrence of improper spraying. .

Further, the step of monitoring the correspondence between the actual flight trajectory of the drone and the preset flight trajectory includes:

A boundary is determined according to the preset flight trajectory, and when the flight range of the drone exceeds the boundary, it is determined that the actual flight trajectory deviates from the preset flight trajectory. In this scheme, if the monitoring of the flight position of the UAV exceeds the boundary range of the expected spraying spray, it is obvious that the UAV has a flight problem, and the spray has sprayed to an undesired area. Setting the flight trajectory and automatically shutting down the spraying work in time will help to reduce the occurrence of improper spraying dosage.

Further, the step of monitoring the correspondence between the actual flight trajectory of the drone and the preset flight trajectory includes:

The flight speed of the drone is monitored, and if the flight speed of the drone exceeds the preset flight speed range, it is also determined that the actual flight trajectory deviates from the preset flight trajectory. The spraying work of the plant protection drone is closely related to the flying speed of the drone during the work process. Monitoring the flying speed of the drone can largely reflect the flying state of the drone. When the flying speed exceeds the preset When flying in the speed range, it is obvious that there is a problem with the flight of the UAV. At this time, judging that the flight path deviates from the preset flight path and shutting down the spraying work in time can reduce the problem of improper spraying.

Further, if it is determined that the actual flight trajectory deviates from the preset flight trajectory, the spraying information is recorded while controlling the stop of the spraying work, and the spraying information includes at least one of the spraying progress, the geographic coordinates of the stopped spraying, and the reason for stopping the spraying ;

After recording the spraying information, the spraying information is sent back to the remote console remotely. Recording the spraying information can facilitate follow-up work. For example, recording the spraying process that has been completed can facilitate the management personnel to continue to complete the spraying work after solving the problem. Recording the geographic coordinates of the stop spraying and the reason for stopping the spraying can facilitate the management personnel to solve the problem. There may be problems near the geographical coordinates, such as too little spraying, whether it should be supplemented, etc., which is conducive to the follow-up work of the management personnel and is convenient for people; and the spraying information is sent back to the remote end in time The console can help solve problems in time and improve work efficiency.

Another aspect of the present invention provides a spraying control device based on a drone, including a drone, and the drone is provided with:

Flight control equipment, used to receive control instructions from the console or remote control to drive the drone to complete the flight action;

The spraying equipment is connected with the spraying controller, which stores the spraying agent and performs the spraying work;

The monitoring equipment is connected with the flight control equipment and the spraying controller, which monitors the flight status of the UAV, and sends a shutdown command to the spraying controller when the preset condition is triggered;

The spray spraying controller is connected with the spray spraying equipment and the monitoring equipment, receives the shutdown command from the monitoring equipment, and controls the shutdown of the spray spraying equipment.

Further, the monitoring device includes a processing chip that sends a shutdown command to the spray controller when a preset condition is triggered, and a barometer, a range finder, a speedometer and a locator connected to the processing chip at least one of the The setting of the processing chip makes the automatic control of the spraying work have the basis for realization, and the setting of devices such as barometer, rangefinder, speedometer and locator can be used to collect the flight status of the drone, so as to provide Automatically controlled shutdown timing provides data support.

Further, the monitoring device also includes a wireless transmission chip;

When the processing chip is triggered by a preset condition and sends a shutdown command to the spray spray controller, it records the spray information, and the wireless transmission chip sends the spray information back to the remote console. Recording the spraying information can facilitate follow-up work. For example, recording the spraying process that has been completed can facilitate the management personnel to continue to complete the spraying work after solving the problem. Recording the geographic coordinates of the stop spraying and the reason for stopping the spraying can facilitate the management personnel to solve the problem. There may be problems near the geographical coordinates, such as too little spraying, whether it should be supplemented, etc., which is conducive to the follow-up work of the management personnel and is convenient for people; and the spraying information is sent back to the remote end in time The console can help solve problems in time and improve work efficiency.

The control method and control device of the present invention monitor the flight state of the drone in time by monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory, so that when the drone deviates from the preset flight trajectory When there is a problem, the spraying work can be automatically and timely shut down, reducing the problem of improper spraying in some areas; moreover, if there is a flight problem with the drone, the flight control and spray control are controlled by two pilots. Controlling will increase the manpower burden, and if a single pilot performs two controls, it will not be able to take care of both; but using the method of the present invention, since the spraying work will be automatically shut down, this enables a single pilot to concentrate on flight control The recovery work, which on the other hand, reduces the possibility of drone damage.

The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer, to the extent that those skilled in the art can implement it according to the contents of the description, and to enable the above and other purposes of the present invention, The features and advantages can be more obvious and understandable, and the specific implementation manners of the present invention are illustrated below for illustration.

Description of drawings

Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings in the description are for the purpose of illustrating preferred embodiments only and are not to be considered as limiting the invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without creative efforts. Also throughout the drawings, the same reference numerals are used to denote the same parts. In the attached picture:

Fig. 1 shows the flow chart of an embodiment of the present invention-a kind of spraying control method based on unmanned aerial vehicle;

Fig. 2 shows a schematic diagram of an unmanned aerial vehicle-based spraying control device according to Embodiment 2 of the present invention;

Fig. 3 shows a schematic diagram of a preferred drone-based spraying control device according to Embodiment 2 of the present invention.

detailed description

Specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" or "comprises" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". The subsequent description in the specification is a preferred implementation mode for implementing the present invention, but the description is for the purpose of the general principles of the specification, and is not intended to limit the scope of the present invention. The scope of protection of the present invention should be defined by the appended claims.

In order to facilitate the understanding of the embodiments of the present invention, several specific embodiments will be taken as examples for further explanation below in conjunction with the accompanying drawings, and each drawing does not constitute a limitation to the embodiments of the present invention.

Unmanned aerial vehicle is referred to as "unmanned aerial vehicle", and the English abbreviation is "UAV (unmannedaerialvehicle)", which is an unmanned aircraft controlled by radio remote control equipment and its own program control device. From a technical point of view, it can be divided into: unmanned helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airship, unmanned parawing aircraft, etc. In recent years, with the improvement of sensor technology, the advancement of microprocessor technology, the improvement of power devices and the increase of battery life, its use in military and civilian applications has continued to expand at a high speed, and the UAV market has broad prospects.

The preferred unmanned aerial vehicle in the embodiment of the present invention is an unmanned aerial vehicle used in the field of plant protection, especially a multi-rotor unmanned aerial vehicle. Because it can realize vertical take-off and landing, flexible flight, and mature control methods, some people have begun to use it Applied in the field of plant protection, this type of UAV is equipped with a container for storing sprays and a spraying device, and then completes the task of spraying the crops by flying. The spraying range is dense and controllable, and the spraying is even It is safe and avoids the harm of the medicine to the human body caused by artificial spraying.

Embodiment one:

Fig. 1 is the flow chart of a kind of spraying control method based on unmanned aerial vehicle of the embodiment of the present invention, as shown in the figure, this control method comprises steps:

S1: Control the UAV to spray the agent according to the preset flight trajectory;

S2: monitor the correspondence between the actual flight trajectory of the drone and the preset flight trajectory;

S3: If it is determined that the actual flight trajectory deviates from the preset flight trajectory, the automatic control stops the spraying work.

The control method of the present invention monitors the flight state of the drone in time by monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory, so that when the drone deviates from the preset flight trajectory, The spraying work can be automatically and timely shut down, reducing the problem of improper spraying in some areas; moreover, if there is a flight problem with the drone, the flight control and the spraying control are controlled by two pilots respectively. Increase the manpower burden, and if a single pilot performs two controls, it will not be able to take care of both; but using the method of the present invention, since the spraying work will be automatically shut down, this enables a single pilot to concentrate on the restoration of flight control , which, on the other hand, reduces the possibility of drone damage.

The spray of the present invention can be a pesticide, a nutrient solution and the like that can be sprayed by an unmanned aerial vehicle. For example, when the spray is a pesticide, the amount of the pesticide generally has certain restrictions. Too much or too little spraying may affect the growth of crops and even cause environmental pollution. The control method of the present invention can largely reduce the occurrence of such problems.

Among them, preferably, the control method of the present invention, the deployment of monitoring work, the collection and processing of monitoring data, the determination of flight status and the automatic shutdown control of spray spraying are mainly realized automatically by setting corresponding equipment on the drone; of course , in the case of communication support, part of the work can also be handed over to the remote console for automatic processing.

In an embodiment of the present invention, preferably, the step of monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory includes:

The actual flight height of the UAV is monitored. If the actual flight height of the UAV exceeds the preset flight height range, it is determined that the actual flight trajectory deviates from the preset flight trajectory. The spraying work of the plant protection drone is closely related to the flying height of the drone during the work process. Monitoring the flying height of the drone can largely reflect the flying state of the drone. When the flying height exceeds the preset When flying in the altitude range, it is obvious that there is a problem with the flight of the drone. At this time, judging that the flight path deviates from the preset flight path and shutting down the spraying work in time can reduce the problem of improper spraying.

In the embodiment of the present invention, preferably, the actual flying height of the drone is monitored and measured in real time by a barometer and/or a rangefinder. The barometer can be used to monitor the absolute flying height of the drone, that is, the altitude, and the rangefinder can be used to monitor the flying height of the drone equivalent to the crop, which can be selected according to different needs; the barometer and the rangefinder The collected data will be used as a reference for judging the shutdown timing of the spraying work, so that the UAV can automatically control the shutdown timing and reduce the problem of improper spray dosage when there are flight problems; of course, the collected data, It can also be used for recording, or feedback to the console or pilot for flight control reference.

For example, when using a barometer to monitor the absolute flight altitude, first measure the ground surface altitude of the area where the ground surface altitude is 85 meters. Generally speaking, the absolute flight altitude of small and micro unmanned aerial vehicles for plant protection will not exceed 100 meters. , then, if it is monitored that the flying height of the UAV exceeds 100 meters, it means that the UAV has a flight problem. When using a rangefinder to monitor the relative flying height of the UAV, when some crops, such as corn, are sprayed, the relative flying height of the UAV is preferably 1m-2m. If the relative flight of the UAV is monitored If the altitude exceeds this range, it can also be considered that the drone has a flight problem.

Wherein, the range finder is a wireless range finder, and the present invention mainly uses an infrared range finder and/or an ultrasonic range finder.

In an embodiment of the present invention, preferably, the step of monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory includes:

Monitor the actual geographic location reached by the drone. If the drone fails to reach the preset geographic location coordinates at the preset flight time node and/or the distance between the actual geographic location and the preset geographic location coordinates exceeds preset threshold, it is determined that the actual flight trajectory deviates from the preset flight trajectory. Monitor the actual geographic location of the UAV, that is, monitor whether the spraying progress of the UAV is consistent with the pre-design. If the current flight position is behind the flight position that should arrive at this time point in the preset flight trajectory, it can be judged as the aircraft's There is a problem with the flight speed control. The current flight of the aircraft is too slow, resulting in too much spraying in the unit range. It should be adjusted. This can be used as the timing to shut down the spraying work, which can reduce the occurrence of improper spraying. .

In an embodiment of the present invention, preferably, the step of monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory includes:

A boundary is determined according to the preset flight trajectory, and when the flight range of the drone exceeds the boundary, it is determined that the actual flight trajectory deviates from the preset flight trajectory. In this scheme, if the monitoring of the flight position of the UAV exceeds the boundary range of the expected spraying spray, it is obvious that the UAV has a flight problem, and the spray has sprayed to an undesired area. Setting the flight trajectory and automatically shutting down the spraying work in time will help to reduce the occurrence of improper spraying dosage.

Specifically, the actual geographic location of the UAV can be monitored by a locator, and it is determined whether the UAV reaches the preset geographic location coordinates or whether it exceeds the boundary according to the collected positioning information; the locator mainly uses a GPS locator Or the Beidou locator, these two locator technologies are relatively mature, the price is reasonable, and their positioning accuracy is sufficient to meet the use in the field of plant protection.

In an embodiment of the present invention, preferably, the step of monitoring the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory includes:

The flight speed of the drone is monitored, and if the flight speed of the drone exceeds the preset flight speed range, it is also determined that the actual flight trajectory deviates from the preset flight trajectory. The spraying work of the plant protection drone is closely related to the flying speed of the drone during the work process. Monitoring the flying speed of the drone can largely reflect the flying state of the drone. When the flying speed exceeds the preset When flying in the speed range, it is obvious that there is a problem with the flight of the UAV. At this time, judging that the flight path deviates from the preset flight path and shutting down the spraying work in time can reduce the problem of improper spraying.

For example, in the case of a relatively fixed spray flow rate, the UAV can better ensure that the spray is sprayed evenly within a certain flight speed, such as between 1.5 m/s and 2.5 m/s. When the flight speed of man-machine exceeds this range, for example, when it reaches 5 m/s, it will cause the situation that the amount of spraying agent is insufficient. Reduce the occurrence of improper spraying of sprays.

The detection of the flying speed of the UAV can be a speedometer, such as a MEMS inertial meter, or a low-speed airspeed meter.

Preferably, in the embodiment of the present invention, if it is determined that the actual flight trajectory deviates from the preset flight trajectory, the spraying information is recorded while the control stops the spraying work. one of the reasons;

After recording the spraying information, the spraying information is sent back to the remote console remotely. Recording the spraying information can facilitate follow-up work. For example, recording the spraying process that has been completed can facilitate the management personnel to continue to complete the spraying work after solving the problem. Recording the geographic coordinates of the stop spraying and the reason for stopping the spraying can facilitate the management personnel to solve the problem. There may be problems near the geographical coordinates, such as too little spraying, whether it should be supplemented, etc., which is conducive to the follow-up work of the management personnel and is convenient for people; and the spraying information is sent back to the remote end in time The console can help solve problems in time and improve work efficiency.

In addition, while the spraying information is transmitted back to the console, an alarm can also be issued to remind relevant personnel that there is an abnormality in the spraying work based on the drone, which needs to be taken seriously and resolved in time.

Embodiment two:

2 is a schematic diagram of a drone-based spraying control device according to Embodiment 2 of the present invention. As shown in the figure, the drone-based spraying control device includes a drone 100. Settings are:

The flight control device 10 is used to receive control instructions from the console or remote controller to drive the drone to complete the flight action;

Spray spray equipment 20 is connected with spray spray controller 40, which stores spray and performs spray spray work;

The monitoring device 30 is connected with the flight control device 10 and the spray controller 40, which monitors the flight status of the unmanned aerial vehicle, and sends a shutdown command to the spray controller 40 when a preset condition is triggered;

The spray spraying controller 40 is connected with the spray spraying equipment 20 and the monitoring equipment 30 , it receives the shutdown command of the monitoring equipment 30 , and controls the shutdown of the spray spraying equipment 20 .

Of course, the flight control of the UAV can be manually controlled by the pilot, or it can be the console or the intelligent control of the UAV itself. For example, when the UAV is controlled autonomously, the flight control device can include SDRAM memory. The regional quota comparison table set by the management platform of the local agricultural bureau is pre-stored. The regional quota comparison table includes multiple spraying areas and multiple spraying quotas. One spraying area corresponds to one spraying quota. Each spraying area The spraying area includes the regional GPS position and the height of the area. The controller controls the driving equipment to fly to each spraying area according to the area quota comparison table, and controls the spraying equipment according to the corresponding spraying quota above each spraying area. spray spray.

Fig. 3 is a schematic diagram of a preferred control device in Embodiment 2 of the present invention. As shown in the figure, in the control device of the present invention, the monitoring device 30 includes a device that sends a shutdown instruction to the spray controller when a preset condition is triggered. A processing chip 31 , at least one of a barometer 32 , a rangefinder 33 , a speedometer 34 and a locator 35 connected to the processing chip. The processing chip is used as a conditional trigger to send a shutdown command to the spray controller according to preset conditions; the setting of the processing chip makes the automatic control of the spraying work have the basis for realization, while the barometer, range finder, The settings of devices such as speedometers and locators can be used to collect the flight status of drones, thereby providing data support for automatic control of shutdown timing.

Specifically, during setting, the barometer 32 can be set on the surface of the drone to fully contact the atmosphere and improve measurement accuracy. The range finder 33 can be set at the lower part of the drone, especially at a relatively flat height with the spraying equipment, which can not only avoid the body blocking the signal, improve the measurement accuracy, but also facilitate the matching of the flying height with the spraying equipment , to monitor the working height of the spraying equipment; the range finder can be one of the infrared range finder and the ultrasonic range finder, or both can be used at the same time. Velocimeter 34 can use velocity sensor or low-speed airspeed gauge, selects according to actual conditions. The locator 35 generally uses a GPS locator or a Beidou locator.

Preferably in this embodiment, the monitoring device also includes a wireless transmission chip 36;

When the processing chip 31 is triggered by a preset condition and sends a shutdown command to the spray spray controller, it records the spray information, and the wireless transmission chip sends the spray information back to the remote console. Recording the spraying information can facilitate follow-up work. For example, recording the spraying process that has been completed can facilitate the management personnel to continue to complete the spraying work after solving the problem. Recording the geographic coordinates of the stop spraying and the reason for stopping the spraying can facilitate the management personnel to solve the problem. There may be problems near the geographical coordinates, such as too little spraying, whether it should be supplemented, etc., which is conducive to the follow-up work of the management personnel and is convenient for people; and the spraying information is sent back to the remote end in time The console can help solve problems in time and improve work efficiency. When the spraying information is transmitted back, an alarm can be added or an audible and photoelectric alarm can be provided through the existing console to remind relevant personnel that there is an abnormality in the spraying work based on the drone, which needs to be paid attention to and resolved in time.

Of course, the monitoring device may also include a memory for storing data such as spraying information, or the spraying information may be stored in an existing memory, and the spraying information may be checked only when returning to the voyage. At this time, although the timeliness of the spraying information is slightly insufficient, in many cases, due to manpower or other reasons, the spraying information is sent back to the console in time, and the console cannot deal with the problems that have occurred in time according to the personnel. After the spraying work is basically completed, check for leaks and fill in the gaps. At this time, remove the wireless transmission chip, store the spraying information temporarily, and wait for the return flight before processing, which can solve some costs.

Specifically, the spraying device 20 may include a control valve, and the spraying controller 40 receives a shutdown instruction, and controls to close the control valve, thereby shutting down the spraying work. The specific type of control valve can be selected according to requirements, for example, it can be a programmable electric control valve, etc., as long as it is applicable.

Of course, the control device of the present invention actually needs other devices such as a power supply and a driving motor to support, but these devices have little to do with the invention of the present invention, and will not be repeated one by one.

The control device of the present invention monitors the corresponding relationship between the actual flight trajectory of the drone and the preset flight trajectory through the monitoring equipment, and timely monitors the flight status of the drone. In this way, when the drone deviates from the preset flight trajectory problem At this time, the spraying work can be automatically and timely shut down by the spraying controller, reducing the problem of improper spraying in some areas; If two pilots control, it will increase the manpower burden, and if a single pilot performs two controls, it will not be able to take care of both; but using the method of the present invention, since the spraying work will be automatically shut down, this enables a single pilot to concentrate on On the other hand, it reduces the possibility of drone damage.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (10)

1. the spray based on unmanned plane sprays a control method, it is characterized in that, comprises step:

Control unmanned plane and carry out spray sprinkling work according to pre-set flight track;

Corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track;

If judge, practical flight track departs from pre-set flight track, then automatically control to stop spray sprinkling work.

2. spray control method based on the spray of unmanned plane as claimed in claim 1, it is characterized in that, the step of the corresponding relation between described monitoring unmanned plane practical flight track and pre-set flight track comprises:

The practical flight height of monitoring unmanned plane, if the practical flight height of unmanned plane exceeds default flying height scope, then judges that practical flight track departs from pre-set flight track.

3. spray control method based on the spray of unmanned plane as claimed in claim 2, it is characterized in that, the practical flight height of unmanned plane is monitored by barometer and/or viameter.

4. spray control method based on the spray of unmanned plane as claimed in claim 1, it is characterized in that, the step of the corresponding relation between described monitoring unmanned plane practical flight track and pre-set flight track comprises:

The actual geographic position that monitoring unmanned plane arrives, if when the flight time node preset, the described unmanned plane actual geographic position of failing to reach default geographical position coordinates and/or arrival exceeds predetermined threshold value from the distance of the geographical position coordinates preset, then judge that practical flight track departs from default flight path.

5. spray control method based on the spray of unmanned plane as claimed in claim 1, it is characterized in that, the step of the corresponding relation between described monitoring unmanned plane practical flight track and pre-set flight track comprises:

Flight path according to presetting determines a border, when the flight range of unmanned plane is beyond the boundary, then judges that practical flight track departs from default flight path.

6. spray control method based on the spray of unmanned plane as claimed in claim 1, it is characterized in that, the step of the corresponding relation between described monitoring unmanned plane practical flight track and pre-set flight track comprises:

The flying speed of monitoring unmanned plane, if the flying speed of unmanned plane exceeds the scope of default flying speed, also judges that practical flight track departs from default flight path.

7. the spray based on unmanned plane as described in as arbitrary in claim 1-6 sprays control method, it is characterized in that, if judge, practical flight track departs from pre-set flight track, then while control stops spray sprinkling work, record sprinkling information, described sprinkling information at least comprises sprinkling progress, stops the geographic coordinate of sprinkling and stop spraying in reason;

After record sprinkling information, sprinkling information remote is returned to the control desk of far-end.

8. based on a spray sprinkling control device for unmanned plane, it is characterized in that, comprise unmanned plane, described unmanned plane is provided with:

Flight control unit, for receiving the steering order of control desk or telepilot, completes flare maneuver to drive unmanned plane;

Spray spray appliance, sprays controller with spray and is connected, and it stores spray, and carries out spray sprinkling work;

Watch-dog, sprays controller with flight control unit and spray and is connected, the state of flight of its monitoring unmanned plane, when pre-conditioned triggering, sprays controller send pass stop instruction to spray;

Spray sprays controller, is connected with spray spray appliance and watch-dog, and it receives the pass stop instruction of watch-dog, controls the work of closing down spray spray appliance.

9. spray sprinkling control device as claimed in claim 8, it is characterized in that, when described watch-dog is included in pre-conditioned triggering, spray controller to described spray and send the process chip of closing stop instruction, at least one in the barometer be connected with described process chip, viameter, knotmeter and orientator.

10. spray sprinkling control device as claimed in claim 9, it is characterized in that, described watch-dog also comprises wireless transmission chip;

Described process chip is in pre-conditioned triggering, and when sending pass stop instruction to described spray sprinkling controller, record sprinkling information, described wireless transmission chip will spray information back to the control desk of far-end.