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Spraying method and device based on unmanned aerial vehicle

A technology of unmanned aerial vehicle and liquid medicine, applied in the field of unmanned aerial vehicle, can solve the problems of heavy spraying, missing spraying, consumption of power and energy, etc., and achieve the effects of high energy efficiency, accurate judgment and high spraying efficiency

Inactive Publication Date: 2016-09-07
SHENZHEN HI TECH NEW AGRI TECH CO LTD
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the satellite positioning system itself has an error of 1 to 2 meters, coupled with the control error of the drone itself, it is easy to cause leakage or re-spraying; even if the drone finds a breakpoint, due to the full load of the drone Taking off and flying to the breakpoint position consumes a lot of power energy

Method used

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  • Spraying method and device based on unmanned aerial vehicle
  • Spraying method and device based on unmanned aerial vehicle
  • Spraying method and device based on unmanned aerial vehicle

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Embodiment approach

[0037] As an implementation, in step S3 of the return judgment, when the UAV flies to the starting point A of the k-th spraying track 2k-1 When the following formula is established, the power is insufficient to return to the voyage:

[0038] Among them, A 1 、A 2 …A 2k-1 、A 2k 、A 2k+1 、A 2k+2 …A n is the planned waypoint, k represents the k-th spraying track, R is the return point, n∈Z + , k∈Z + ; for the UAV from point A 2k-1 to point A 2k power consumption, for the UAV from point A 2k Electricity consumption to point R, Z 0 is the current power of the drone.

[0039] Among them, s is from point A 2k-1 to point A 2k Then to the range of point R, P is the power consumption per unit distance when the drone flies at a predetermined speed at a constant speed, and dm is the integral microelement for the range s.

[0040] As an implementation, in the return judgment step S3, when the UAV completes the k-th spraying track, it flies to the end point A of the k-t...

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Abstract

The invention provides a spraying method and device based on an unmanned aerial vehicle (UAV). The method comprises a track planning step in which a course reversal point R is determined, an area which needs spraying is selected, and a track of a UAV flight point sequence is planned; a spraying step in which flight point sequence flight is traversed successively while spraying is carried out; and a course reversal determining step in which when a predetermined flight point is reached, whether the present pesticide amount and / or electricity amount can satisfy use, if yes, spraying is continued, and otherwise, the course reversal point R is returned to. The spraying device comprises a track planning module, a spraying module and a course reversal determining module. According to the invention, shortage of batteries or pesticide can be discovered timely, the UAV can return automatically to replace the battery or supplement pesticide, time and labor are saved, the efficacy is high, determination is accurate and the spraying efficiency is high.

Description

technical field [0001] The invention relates to the technical field of drones, in particular to a spraying method and device based on drones. Background technique [0002] Unmanned aircraft, referred to as unmanned aerial vehicle (English: Unmanned Aerial Vehicle, referred to as: UAV), is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device. UAVs are widely used in agriculture to spray agricultural products (spraying pesticides or fertilizers). During the spraying process of drones, there will often be breakpoints where there is no power in the middle and the medicine is used up. How to continue spraying at the breakpoint during the spraying process has always been a difficult problem for those skilled in the art. The existing drone spraying operation relies on the satellite positioning system to judge the breakpoint. [0003] However, the satellite positioning system itself has an error of 1 to 2 meters, coupled with...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 付维何明昊
Owner SHENZHEN HI TECH NEW AGRI TECH CO LTD
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