Method and system for automatic spraying controlling of unmanned aerial vehicle, and unmanned aerial vehicle spraying control system

Abstract

The invention discloses a method and system for automatic spraying controlling of an unmanned aerial vehicle, and an unmanned aerial vehicle spraying control system. The method comprises: step one, presetting a spraying parameter and enabling an unmanned aerial vehicle to fly to an operating area to carry out spraying; step two, obtaining a flight speed and a rolling attitude angle of the unmanned aerial vehicle in real time; step three, calculating a current spraying speed in real time and obtaining a current flow in real time; step four, calculating an output control value by using a PID control method, feeding back the output control value to a driving pump, and controlling the driving pump to adjust the flow in real time; and step five, repeating the steps two, three, and four until the spraying is completed. According to the method for automatic spraying controlling of an unmanned aerial vehicle, the speed and attitude angle of the unmanned aerial vehicle are obtained in real time; and the real flow and pressure are obtained to carry out closed-loop controlling of the flow. Therefore, real-time and precise controlling of the spraying flow of the unmanned aerial vehicle can be realized; and non-uniform spraying at different speeds and tilt angles can be prevented.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic spraying control method for an unmanned aerial vehicle, an automatic spraying control system for an unmanned aerial vehicle, and a spraying control system for an unmanned aerial vehicle. Background technique [0002] There are two main types of existing drone spraying controls: non-intelligent on-off control and variable spraying control with GPS speed control. [0003] Non-intelligent ordinary controllers have simple functions and only have basic spraying functions. They cannot accurately control the spraying speed according to the flight speed of the aircraft, which may easily cause uneven spraying in the pharmaceutical industry. [0004] The variable spraying controller with GPS speed control can calculate according to the spraying speed designed in advance, combined with the built-in GPS receiver to measure the flight speed of the aircraft in rea...

AI Technical Summary

Problems solved by technology

This scheme has made great progress, but the attitude information of the aircraft cannot be obtained only by measuring the GPS speed, and the attitude of the aircraft in actual flight will be tilted to a certain extent under the influence of turning or side wind. The coverage area is reduced, and the spraying speed should be reduced in real time

Therefore, the sprinkler controller installed with GPS cannot solve the impact of the aircraft attitude, and it will still cause uneven spraying during spraying

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