Spraying control methods and devices for unmanned equipment, unmanned equipment and electronic equipment

Abstract

This application provides a spraying control method and apparatus for unmanned equipment, as well as the unmanned equipment and electronic equipment. The spraying control method for the unmanned equipment includes: before the unmanned equipment sprays pesticide solution, controlling the pesticide driving device to perform a first action to vent gas and / or residual pesticide solution from the pesticide tube; and controlling the pesticide driving device to perform a second action to fill the pesticide tube with pesticide solution from the storage tank. This application can avoid missed spraying in the area at the beginning of the spraying operation and improves the accuracy of the spraying operation.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, specifically to a spraying control method and apparatus for unmanned equipment, as well as unmanned equipment and electronic equipment. Background Technology

[0002] With the rapid development of unmanned technology, unmanned equipment is widely used in spraying operations due to its advantages such as high mobility or low safety risk factor.

[0003] However, when unmanned equipment is carrying out spraying operations, sometimes air may be present in the pesticide tube between the pesticide tank and the nozzle, causing missed spraying in the initial area of ​​the spraying operation, which will affect the accuracy of the spraying operation. Summary of the Invention

[0004] In view of this, this application provides a spraying control method and apparatus for unmanned equipment, as well as unmanned equipment and electronic equipment, which can avoid missed spraying in the area at the beginning of the spraying operation and improve the accuracy of the spraying operation.

[0005] The first aspect of this application provides a spraying control method for an unmanned device. The spraying device of the unmanned device includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the medicine storage tank and the nozzle. The spraying control method for the unmanned device includes, before the unmanned device sprays medicine, controlling the medicine driving device to perform a first action to vent gas and / or residual medicine in the medicine pipe; and controlling the medicine driving device to perform a second action to fill the medicine pipe with medicine from the medicine storage tank.

[0006] In some embodiments of this application, the above-mentioned control of the liquid driving device to take a first action to vent the gas and / or residual liquid in the drug tube includes: controlling the liquid driving device to draw the gas and / or residual liquid in the drug tube back to the storage tank.

[0007] In some embodiments of this application, the liquid driving device includes a drive motor and a peristaltic pump, the first action being the reverse rotation of the peristaltic pump, and the second action being the forward rotation of the peristaltic pump.

[0008] In some embodiments of this application, the above-mentioned control of the liquid driving device to draw back the gas and / or residual liquid in the medicine tube to the storage tank includes: controlling the drive motor to drive the peristaltic pump to reverse N1 times, where N1 times is the number of rotations required for the reverse peristaltic pump to draw all the gas and / or residual liquid in the medicine tube back to the storage tank.

[0009] In some embodiments of this application, the second action of the above-mentioned control device for driving the liquid medicine includes controlling the drive motor to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with liquid medicine.

[0010] In some embodiments of this application, before the above-mentioned control of the drive motor to drive the peristaltic pump to reverse N1 times, the spraying control method of the unmanned equipment further includes: determining the value of N1 in N1 times based on the capacity of the medicine tube and the amount of liquid output per revolution of the peristaltic pump; determining the first number of revolutions of the drive motor based on the value of N1; wherein, the above-mentioned control of the drive motor to drive the peristaltic pump to reverse N1 times includes: controlling the drive motor to drive the peristaltic pump to reverse N1 times based on the first number of revolutions of the drive motor.

[0011] In some embodiments of this application, determining the value of N1 in N1 cycles based on the capacity of the medicine tube and the amount of liquid discharged per revolution of the peristaltic pump includes: calculating the value of N1 in N1 cycles by dividing the capacity of the medicine tube by the amount of liquid discharged per revolution of the peristaltic pump.

[0012] In some embodiments of this application, after determining the value of N1 in N1 cycles based on the capacity of the medicine tube and the amount of liquid output per revolution of the peristaltic pump, the spraying control method of the unmanned equipment further includes: determining the value of N2 in N2 cycles based on the value of N1; and determining the second number of revolutions of the drive motor based on the value of N2, wherein controlling the drive motor to drive the peristaltic pump to rotate forward N2 cycles includes controlling the drive motor to drive the peristaltic pump to rotate forward N2 cycles based on the second number of revolutions of the drive motor.

[0013] In some embodiments of this application, before the aforementioned control of the liquid-driven device to take the first action, the spraying control method of the unmanned equipment further includes obtaining a start spraying operation command. Specifically, the aforementioned control of the liquid-driven device to take the first action includes: controlling the liquid-driven device to take the first action according to the start spraying operation command.

[0014] In some embodiments of this application, after the above-mentioned control device for driving the liquid medicine takes a second action to fill the medicine tube with the liquid medicine in the medicine storage tank, the spraying control method of the unmanned equipment further includes controlling the unmanned equipment to start spraying the liquid medicine when it is determined that the medicine tube is full of liquid medicine and the unmanned equipment has reached the starting point of the operation.

[0015] In some embodiments of this application, before the above-mentioned control of the liquid-driven device to take the first action, the spraying control method of the unmanned device further includes: obtaining a notification instruction that the unmanned device has flown to the start of the operation; wherein, the above-mentioned control of the liquid-driven device to take the first action includes: controlling the liquid-driven device to take the first action according to the notification instruction.

[0016] A second aspect of this application provides a spraying control device for an unmanned device. The spraying device includes a pesticide storage tank, a pesticide driving device, a nozzle, and a pesticide tube connecting the storage tank and the nozzle. The spraying control device includes a first control module for controlling the pesticide driving device to perform a first action before the unmanned device sprays pesticide, thereby venting gas and / or residual pesticide from the pesticide tube; and a second control module for controlling the pesticide driving device to perform a second action, thereby filling the pesticide tube with pesticide from the storage tank.

[0017] A third aspect of this application provides an unmanned device. The unmanned device includes a spraying apparatus and a controller. The spraying apparatus includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine tube connecting the medicine storage tank and the nozzle. The controller is connected to the medicine driving device, and the controller is used to control the medicine driving device to perform a first action before the unmanned device sprays medicine to vent gas and / or residual medicine in the medicine tube, and to control the medicine driving device to perform a second action to fill the medicine tube with medicine from the medicine storage tank.

[0018] A fourth aspect of this application provides an electronic device. The electronic device includes a memory and a processor. The memory stores executable instructions for a computer, and the processor, when executing the executable instructions, implements a spraying control method for any of the unmanned devices provided in the first aspect of this application.

[0019] A fifth aspect of this application provides a computer-readable storage medium. The storage medium stores executable instructions for a computer. When executed by a processor, these executable instructions implement a spraying control method for any of the unmanned devices provided in the first aspect of this application.

[0020] According to the technical solution provided in this application, by controlling the liquid spraying device of the unmanned equipment to take a first action to empty the gas and / or residual liquid in the liquid pipe, and by controlling the liquid spraying device to take a second action to fill the liquid in the storage tank into the liquid pipe, the spraying operation is effectively prevented from being missed in the initial area and the accuracy of the spraying operation is improved. This application provides an automatic liquid pipe emptying mechanism that can pre-treat the liquid before the unmanned equipment sprays, achieving automatic emptying of the liquid pipe, avoiding the problem of missed spraying caused by incomplete emptying, and simplifying the user's operation steps for the unmanned equipment. Attached Figure Description

[0021] Figure 1 The diagram shown is a structural schematic of a spraying device for an unmanned equipment provided in some embodiments of this application.

[0022] Figure 2 The diagram shown is a structural schematic of a spraying device for an unmanned equipment provided in some other embodiments of this application.

[0023] Figure 3 The diagram shown is a schematic flowchart of a spraying control method for unmanned equipment provided in some embodiments of this application.

[0024] Figure 4 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some other embodiments of this application.

[0025] Figure 5 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some embodiments of this application.

[0026] Figure 6 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some embodiments of this application.

[0027] Figure 7 The diagram shown is a schematic flowchart of a spraying control method for unmanned equipment provided in some further embodiments of this application.

[0028] Figure 8 The diagram shown is a schematic flowchart of a spraying control method for an unmanned device provided in some other embodiments of this application.

[0029] Figure 9 The diagram shown is a schematic diagram of the structure of a spraying control device for an unmanned device provided in some embodiments of this application.

[0030] Figure 10 The diagram shown is a structural schematic of an unmanned device provided in some embodiments of this application.

[0031] Figure 11 The diagram shown is a structural schematic of an electronic device provided in some embodiments of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] When unmanned equipment is spraying, if a section of the pesticide tube in the unmanned equipment contains gas (or is not filled with pesticide), then when this gas reaches the nozzle, the pesticide will not be sprayed out, resulting in missed spraying.

[0034] In some methods, to prevent missed spraying, the user (or operator) manually empties the drone before use. For example, the user controls the drone to perform a test spray, and only starts flying the drone after the pesticide has been sprayed out. However, if the user forgets to manually empty the drone, it may result in missed spraying in the area where the spraying operation has just begun. On the other hand, because residual pesticide may remain in the spray tube during the movement of the drone or after the completion of the previous spraying operation, if the drone is in a non-operational area during the test spray, this residual pesticide may be sprayed into the non-operational area, resulting in waste of residual pesticide and pollution of the non-operational area.

[0035] This application provides a spraying control method and apparatus for unmanned equipment, as well as unmanned equipment and electronic equipment, which can avoid missed spraying in the area at the beginning of the spraying operation and improve the accuracy of the spraying operation.

[0036] Figure 1 The diagram shown is a schematic representation of a spraying device for unmanned equipment according to some embodiments of this application. The spraying device 100 for unmanned equipment includes a medicine storage tank 110, a medicine driving device 120, a nozzle 130, and a medicine pipe 140 connecting the medicine storage tank 110 and the nozzle 130.

[0037] The spraying device 100 of the unmanned equipment is a combination of all components required for performing spraying operations, including but not limited to a pesticide storage tank 110, a pesticide driving device 120, a nozzle 130, and a pesticide tube 140. For example, an atomizing device may be installed near the nozzle 130 so that the pesticide in the tube is atomized and sprayed out from the nozzle. Other components may also be installed, and this application does not specifically limit this. The atomizing device enables the pesticide to be sprayed evenly.

[0038] The storage tank 110 is used to store the pesticide solution, which can be pesticide or fertilizer, etc., and this application does not specifically limit it. The pesticide solution driving device 120 is used to drive the transmission of the pesticide solution in the pesticide tube and to draw back the gas or residual pesticide solution in the pesticide tube 140. The nozzle 130 is used to spray the pesticide solution from the pesticide tube 140.

[0039] Figure 2 The diagram shown is a structural schematic of a spraying device for an unmanned equipment provided in some other embodiments of this application. Figure 2 The embodiment shown is Figure 1 This is an example of an embodiment shown; similarities will not be repeated here, but the differences will be the focus. For example... Figure 2As shown, the spraying device 200 of the unmanned equipment includes a drive motor 121 and a peristaltic pump 122 for driving the liquid medication. The peristaltic pump 122 is used to draw back gas or residual liquid medication in the medication tube 140, and also to pump liquid medication from the storage tank 110 into the medication tube. There can be one or more peristaltic pumps 122. The drive motor 121 is used to drive the peristaltic pump 122 to rotate. The peristaltic pump 122 achieves the intake and discharge of liquid medication by controlling the direction of rotation (such as forward or reverse rotation).

[0040] It should be understood that Figure 1 The spraying device 100 shown and Figure 2 The structure of the spraying device 200 shown is merely exemplary, and the connection method and number of the components in the spraying device 100 or spraying device 200 can be adaptively adjusted. For example, Figure 2 The drive motor 121 in the spraying device 200 shown can be replaced with a hydraulic drive or a magnetic drive, etc., and the peristaltic pump 122 can be replaced with any other component capable of sucking in and discharging the liquid, such as a diaphragm pump or a track pump, etc., depending on the actual situation. Taking a diaphragm pump as an example, a diaphragm pump achieves the sucking in and discharging of the liquid by the back-and-forth movement of a diaphragm.

[0041] Figure 3 The diagram shown is a schematic flowchart of a spraying control method for unmanned equipment provided in some embodiments of this application. The spraying device of the unmanned equipment uses... Figure 1 Taking the spraying device shown as an example, the spraying control method of this unmanned equipment can be executed by a processor, controller, or microcontroller, etc. The following example uses a processor. Figure 3 As shown, the spraying control method of this unmanned equipment includes the following steps.

[0042] S110: Before the unmanned equipment sprays the liquid medicine, control the liquid medicine driving equipment to take the first action to vent the gas and / or residual liquid medicine in the medicine tube.

[0043] In some embodiments, the processor can automatically control the liquid-driven device to take a first action upon receiving a power-on command, a notification command to fly to the starting point of the spraying operation, or a command to start flight of the unmanned device. Controlling the liquid-driven device to take the first action can be done at any time before the unmanned device begins spraying the liquid; this application does not specifically limit this.

[0044] It should be noted that the first action can be any action that, upon execution, empties the gas and / or residual liquid in the drug tube. For example, it could be an action that, upon execution, pumps the gas and / or residual liquid in the drug tube back into the storage tank, or it could be an action that, upon execution, expels the gas and / or residual liquid from the drug tube outside the drug tube.

[0045] S120: Control the liquid driving device to take a second action so that the liquid in the storage tank fills the medicine tube.

[0046] It should be noted that the second action can be any action that, upon execution, fills the medicine tube in the storage tank with the medicine solution. For example, it could be an action that controls the valve switch to open the medicine tube, or an action that controls the rotation of the drive pump. The specific first and second actions are related to the structure of the medicine solution driving equipment and can be adaptively modified based on the structure of the medicine solution driving equipment.

[0047] According to the technical solution provided in this application, by controlling the liquid-driving device to take a first action before the unmanned equipment sprays the liquid, the gas and / or residual liquid in the liquid tube can be emptied. This facilitates precise control of the amount of liquid filling the liquid tube when the second action is taken subsequently. Furthermore, by controlling the liquid-driving device to take the second action, the liquid in the storage tank can be used to fill the liquid tube, effectively preventing missed spraying in the initial area of ​​the liquid spraying and improving the accuracy of the spraying operation. This application provides an automatic liquid tube emptying mechanism that can pre-treat the liquid before the unmanned equipment sprays the liquid, achieving automatic emptying of the liquid tube, avoiding missed spraying caused by incomplete emptying, and simplifying the user's operation steps for the unmanned equipment.

[0048] Figure 4 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some other embodiments of this application. Figure 4 The embodiment shown is Figure 3 This is an example of an embodiment shown; similarities will not be repeated here, but the differences will be the focus. For example... Figure 4 As shown, the difference is that step S1101 is an exemplary implementation of step S110.

[0049] S1101: Before the unmanned equipment sprays the liquid medicine, control the liquid medicine driving device to draw the gas and / or residual liquid medicine in the medicine tube back to the storage tank.

[0050] The liquid-driven device can directly or indirectly pump the gas and / or residual liquid in the medicine tube back to the storage tank, thereby avoiding the adverse effects such as waste of residual liquid and pollution of any area caused by the discharge of residual liquid outside the medicine tube.

[0051] S120: Control the liquid driving device to take a second action so that the liquid in the storage tank fills the medicine tube.

[0052] According to the technical solution provided in the embodiments of this application, before the unmanned equipment sprays the liquid, the liquid driving device is controlled to draw the gas and / or residual liquid in the liquid pipe back to the storage tank. Compared with the solution of directly filling the liquid in the storage tank into the liquid pipe, the residual liquid in the liquid pipe can be fully utilized for spraying operations, avoiding the waste of residual liquid.

[0053] Figure 5 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some embodiments of this application. Figure 5 The embodiment shown is Figure 4 An example of the embodiment shown. The spraying device of the unmanned equipment... Figure 2 Take the spraying device shown as an example. Figure 5 As shown, with Figure 4 The difference in the illustrated embodiment is that step S11011 is an exemplary implementation of step S1101.

[0054] S11011: Before the unmanned equipment sprays the pesticide, control the drive motor to drive the peristaltic pump in reverse N1 revolutions. N1 revolutions is the number of revolutions required for the peristaltic pump to completely pump the gas and / or residual pesticide in the pesticide tube back to the storage tank.

[0055] In some embodiments, the value of N1 in N1 cycles can be pre-stored in memory, and the processor directly retrieves the value of N1 from memory to control the drive motor to drive the peristaltic pump to reverse N1 cycles. In other embodiments, the value of N1 in N1 cycles can be calculated and obtained by the processor in real time. The processor can obtain the value of N1 based on the calculation result or obtain the first number of rotations required by the drive motor when the peristaltic pump reverses N1 cycles, thereby controlling the drive motor to drive the peristaltic pump to reverse N1 cycles. The value of N1 can be an integer or a decimal, and this application does not specifically limit it. N1 cycles can be exactly equal to the number of cycles required for the reverse peristaltic pump to completely draw the gas and / or residual drug liquid in the drug tube back to the drug storage tank, or it can be greater than the number of cycles required for the reverse peristaltic pump to completely draw the gas and / or residual drug liquid in the drug tube back to the drug storage tank, as long as it can completely draw the gas and / or residual drug liquid in the drug tube back to the drug storage tank, and this application does not specifically limit it.

[0056] For example, assuming that the drive motor rotates 15 revolutions to drive the peristaltic pump to rotate 1 revolution, and N1 = 5, the processor can control the drive motor to stop driving the peristaltic pump to continue rotating in reverse after the peristaltic pump rotates 5 revolutions in reverse. Alternatively, the processor can be set to control the drive motor to stop driving the peristaltic pump to continue rotating in reverse after rotating 75 revolutions. The rotation direction of the drive motor and the peristaltic pump can be the same, such as the reverse rotation of the drive motor driving the reverse rotation of the peristaltic pump, or they can be different, such as the forward rotation of the drive motor driving the reverse rotation of the peristaltic pump. This application does not specifically limit this.

[0057] According to the technical solution provided in the embodiments of this application, by controlling the drive motor to drive the peristaltic pump to reverse N1 times, since the amount of gas and / or residual medicine liquid that the peristaltic pump can draw back from the medicine tube is related to the number of times the peristaltic pump reverses, and N1 times is the number of times the peristaltic pump can reverse to draw all the gas and / or residual medicine liquid in the medicine tube back to the medicine storage tank, it is possible to draw all the gas and / or residual medicine liquid in the medicine tube back to the medicine storage tank without knowing whether there is residual medicine liquid in the medicine tube. This is beneficial for accurately filling the medicine tube with an appropriate amount of medicine liquid according to the capacity of the medicine tube.

[0058] In some embodiments of this application, step S1201 is an exemplary implementation of step S120.

[0059] S1201: Controls the drive motor to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with liquid.

[0060] In some embodiments, the value of N2 in N2 revolutions can be pre-stored in memory, and the processor directly retrieves the value of N2 from memory to control the drive motor to drive the peristaltic pump to rotate forward N2 revolutions. In other embodiments, the value of N2 in N2 revolutions can be calculated and obtained by the processor in real time. The processor can obtain the value of N2 based on the calculation result or obtain the first number of revolutions required for the drive motor to rotate forward N2 revolutions for the peristaltic pump, and then control the drive motor to drive the peristaltic pump to rotate backward N2 revolutions.

[0061] The value of N2 in circle N2 can be the same as or different from the value of N1 in circle N1. This application does not impose specific limitations on this. Circle N2 can be exactly equal to the number of revolutions required for the peristaltic pump to just fill the medicine tube with liquid, or it can be greater than the number of revolutions required for the peristaltic pump to fill the medicine tube with liquid, as long as the medicine tube is filled with liquid. This application does not impose specific limitations on this.

[0062] In this embodiment, the peristaltic pump is driven to rotate forward N2 times by the drive motor. Since N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with liquid, the medicine tube can be filled with liquid after the peristaltic pump rotates forward N2 times. Therefore, there will be no gas in the medicine tube, which can effectively prevent leakage.

[0063] It should be understood that in some embodiments, the processor can also control the drive motor to drive the peristaltic pump to rotate in reverse or forward for a preset time, as long as the reverse rotation of the peristaltic pump can empty the gas and / or residual medicine in the medicine tube, and the forward rotation of the peristaltic pump can fill the medicine tube with medicine in the medicine storage tank. This application does not make specific limitations in this regard. The forward and reverse rotation of the drive motor are two relatively opposite rotation directions, and the forward and reverse rotation of the peristaltic pump are also two relatively opposite rotation directions, and are not limited to absolute directions. For example, reverse rotation can be counterclockwise rotation, and forward rotation can be clockwise rotation, or vice versa.

[0064] Figure 6 The diagram shown is a flowchart illustrating a spraying control method for unmanned equipment provided in some embodiments of this application. Figure 6 The embodiment shown is Figure 5 An example of the illustrated embodiment. For example... Figure 6 As shown, with Figure 5 The difference in the illustrated embodiment is that, before S11011, the spraying control method of the unmanned equipment further includes steps S105 and S106, wherein S110111 is an exemplary implementation of step S11011.

[0065] S105: Determine the value of N1 in N1 cycles based on the capacity of the medicine tube and the amount of liquid discharged per revolution of the peristaltic pump.

[0066] For example, if the capacity of the medicine tube is A, and the volume of liquid dispensed per revolution of the peristaltic pump is B, the value of N1 in N1 revolutions can be determined according to a preset formula. This preset formula can be N1 = A / B + n or N1 = mA / B + n, where m and n can be any preset values. The values ​​of m and n can be adjusted according to actual needs to ensure that the peristaltic pump reverses N1 revolutions effectively, allowing all gas and / or residual liquid in the medicine tube to be drawn back into the storage tank. The capacity of the medicine tube and the volume of liquid dispensed per revolution of the peristaltic pump can be stored in memory. The processor can retrieve the capacity of the medicine tube and the volume of liquid dispensed per revolution of the peristaltic pump from memory and substitute them into the preset formula to calculate the value of N1 in N1 revolutions.

[0067] It should be understood that the length and cross-sectional area of ​​the medicine tube in the unmanned equipment are fixed, and the capacity of the medicine tube can be determined in advance based on the length and cross-sectional area of ​​the medicine tube. The liquid output B per revolution of the peristaltic pump can be a parameter preset by the user and stored in the memory, or it can be obtained by monitoring the liquid output of the peristaltic pump during each actual spraying operation and updating the liquid output B per revolution of the peristaltic pump in a timely manner. For example, it can be calculated by dividing the volume difference between the volume X1 of the medicine in the storage tank before the spraying operation and the volume X2 of the medicine in the storage tank after the spraying operation by the number of forward revolutions Y of the pump in this spraying operation, that is, B = (X1 - X2) / Y.

[0068] S106: Determine the first rotation number of the drive motor based on the value of N1.

[0069] For example, assuming that the drive motor rotates M revolutions, it can drive the peristaltic pump to rotate P revolutions. The ratio can be M / P. Therefore, given a fixed value for N1, the first number of revolutions of the drive motor can be determined as (M / P) × N1. It should be understood that to ensure all gas and / or residual liquid in the medicine tube is drawn back into the storage tank, a preset value can be added to (M / P) × N1, such as (M / P) × N1 + a. Alternatively, a preset multiple, such as b(M / P) × N1, can be added to (M / P) × N1. The values ​​of a and b can be set according to actual needs, and this application does not impose specific limitations on them. The first number of revolutions of the drive motor can be proportional to the number of revolutions of the peristaltic pump. This ratio can be determined based on the structure and arrangement of the drive motor and peristaltic pump in the unmanned equipment. The specific value of this ratio can be adjusted differently for different unmanned equipment, and this application does not impose specific limitations on it.

[0070] S110111: Before the unmanned equipment sprays the liquid medicine, the drive motor is controlled to drive the peristaltic pump to reverse N1 times according to the first rotation of the drive motor.

[0071] Specifically, after the processor obtains the first number of rotations of the drive motor, it can control the drive motor to rotate that number of rotations and then stop, thereby causing the peristaltic pump to reverse N1 rotations.

[0072] According to the technical solution provided in this application, the value of N1 in N1 revolutions is determined based on the capacity of the medicine tube and the liquid output per revolution of the peristaltic pump. This ensures that the value of N1 is precisely correlated with the capacity of the medicine tube and the liquid output per revolution of the peristaltic pump, which is beneficial for accurately drawing all gas and / or residual liquid in the medicine tube back to the storage tank. By determining the first revolution of the drive motor based on the value of N1, and controlling the drive motor to drive the peristaltic pump to reverse N1 revolutions based on the first revolution of the drive motor, the rotation of the drive motor can be directly controlled to achieve the effect of controlling the peristaltic pump to reverse N1 revolutions, simplifying the control method and improving the control efficiency.

[0073] In some embodiments of this application, step S105 includes: dividing the capacity of the medicine tube by the amount of liquid discharged per revolution of the peristaltic pump to calculate the value of N1 in N1 revolutions.

[0074] For example, if the capacity of the medicine tube is A, and the amount of liquid dispensed per revolution of the peristaltic pump is B, the value of N1 in N1 revolutions is calculated as N1 = A / B.

[0075] In this embodiment, the value of N1 in N1 revolutions is calculated by dividing the capacity of the medicine tube by the amount of liquid discharged per revolution of the peristaltic pump. Since the value of N1 is exactly equal to the number of revolutions required for the reverse peristaltic pump to completely pump the gas or residual medicine in the medicine tube back to the medicine storage tank, the gas or residual medicine in the medicine tube can be completely pumped back to the medicine storage tank. Moreover, since the value of N1 is greater than the number of revolutions required for the reverse peristaltic pump to completely pump the gas or residual medicine in the medicine tube back to the medicine storage tank, time can be effectively saved.

[0076] In some embodiments of this application, the spraying control method of the unmanned equipment may further include steps S111 and S112 before S1201. Step S12011 is an exemplary implementation of step S1201.

[0077] S111: Determine the value of N2 in the N2 circle based on the value of N1.

[0078] It should be understood that N2 can be equal to, less than, or greater than N1. In some embodiments, if N1 equals N2, the processor can directly determine the value of N1 as the value of N2. In other embodiments, the processor can pre-set an algorithm representing the calculation formula between N1 and N2. After obtaining the value of N1, the processor can calculate the value of N2 in the N2 revolutions based on the value of N1. The calculation formula can be such as N1 = N2, N1 = N2 + c, or N1 = dN2 + c, etc., where c and d are arbitrary preset parameters, as long as they can ensure that the N2 revolutions are the number of revolutions required for the forward rotating pump to fill the medicine tube with medicine. This application does not specifically limit this.

[0079] S112: Determine the second rotation number of the drive motor based on the value of N2.

[0080] Determining the second number of rotations of the drive motor in step S112 is similar to determining the first number of rotations of the drive motor in step S106, and will not be repeated here.

[0081] S12011: Based on the second rotation number of the drive motor, control the drive motor to drive the peristaltic pump to rotate forward N2 times.

[0082] Specifically, after the processor obtains the second number of rotations of the drive motor, it can control the drive motor to rotate that second number of rotations and then stop, thereby causing the peristaltic pump to rotate N2 times in the forward direction.

[0083] In this embodiment of the application, the value of N2 in the N2 circle is determined based on the value of N1, so that the value of N2 can be directly obtained when the value of N1 is determined. This simplifies the method of determining the value of N2 and ensures that the medicine tube is filled with medicine, thus avoiding leakage.

[0084] For example, N1≤N2≤N1+n, which allows for setting an appropriate value for N2 based on actual needs, effectively avoiding insufficient filling due to existing errors.

[0085] It should be understood that n can be any preset value greater than or equal to 0, and can be set according to actual needs. For example, if the numerical accuracy of N1 is high, and the pump reverses N1 times, it is sufficient to draw all the gas and / or residual liquid in the medicine tube back to the medicine storage tank, then N1 = N2 and n = 0 can be set. If the numerical accuracy of N1 is low, in order to avoid backflow or incomplete filling due to existing errors, n can be set to 0.2, 1, 1.5, 2, 5, etc. This application does not make specific limitations in this regard.

[0086] For example, if n=1, then the pump can be rotated N2 times to fill the medicine tube with medicine, while avoiding the waste and pollution caused by leakage of medicine when the value of N2 is too large, thus effectively saving medicine.

[0087] Figure 7 The diagram shown is a schematic flowchart of a spraying control method for unmanned equipment provided in some further embodiments of this application. Figure 7 The embodiment shown is Figure 3 An example of the illustrated embodiment. For example... Figure 7 As shown, with Figure 3 The difference in the illustrated embodiment is that, prior to step S110, the spraying control method for the unmanned equipment further includes step S101. Step S1102 is an exemplary implementation of step S110.

[0088] S101: Obtain the command to start spraying operation.

[0089] The start spraying operation command is an instruction used to indicate the commencement of spraying operations. Receiving the start spraying operation command can be done by receiving a real-time command from the user, or by issuing a command after determining the start of the spraying operation based on the unmanned equipment's operational status or location information.

[0090] S1102: Before the unmanned equipment sprays the liquid, the liquid driving equipment is controlled to take the first action according to the start spraying operation command.

[0091] In this embodiment of the application, by controlling the liquid-driven equipment to take the first action according to the start spraying operation command, the liquid can be automatically emptied when the spraying operation is started, thereby improving the operating efficiency of the unmanned equipment.

[0092] In some embodiments, the processor can also acquire an automatic emptying command. The user can pre-enter the automatic emptying command on the user terminal application. This command can be stored in memory, and when the processor acquires the command to power on the unmanned device, it can retrieve the automatic emptying command from memory. The user terminal can be a mobile phone, tablet, or computer, etc. Alternatively, the user can pre-enter the automatic emptying command on the unmanned device when using it for the first time. Upon subsequent use, the processor can retrieve the previously entered command. After acquiring the automatic emptying command, the controller can immediately control the liquid-driven device to perform the first and second actions, or it can further control the liquid-driven device to perform the first and second actions after the unmanned device has flown to a preset location, such as the work start point.

[0093] For example, the user terminal's application (APP) can provide an "automatic drain" function option for the user to choose. If the user selects the "automatic drain" function option, the processor can determine that the user has selected the automatic drain instruction and obtain the automatic drain instruction according to the user's selection.

[0094] The automatic drain command allows the user to specify the need for automatic draining. Automatic draining can involve automatically executing any of the spraying control methods for unmanned equipment described in the above embodiments. The automatic drain command can be input by selecting function options, by voice input, or by other methods such as Pinyin input; this application does not impose any specific limitations on this method.

[0095] Users can be manufacturers, users of unmanned equipment, or operators of user terminals, etc., and this application does not specifically limit them. In some embodiments, the automatic emptying command can be set by the manufacturer before the unmanned equipment leaves the factory. In other embodiments, the automatic emptying command can be set by the user or operator according to the operation status of the unmanned equipment. For example, the operation status can be divided into the first spraying operation and subsequent continuous spraying operations. Then the user can set the automatic emptying command to automatically empty when the unmanned equipment performs the first spraying operation, and not to automatically empty during the subsequent continuous spraying operations. This is because the liquid driving device does not stop during continuous spraying operations, constantly filling the liquid tube with liquid, so there is no need to empty it again. As another example, the operation status can be divided into the start time of spraying operation and the time of reaching the start time of operation. Then the user can set the automatic emptying command to automatically empty when the spraying operation starts, or the user can set the automatic emptying command to automatically empty when the start time of operation is reached.

[0096] Figure 8 The diagram shown is a schematic flowchart of a spraying control method for an unmanned device provided in some other embodiments of this application. Figure 8 The embodiment shown is Figure 3 An example of the illustrated embodiment. For example... Figure 8 As shown, with Figure 3 The difference in the illustrated embodiment is that, after step S120, the spraying control method of the unmanned equipment further includes S130.

[0097] S130: Once it is confirmed that the spray tube is full of liquid medicine and the unmanned equipment has reached the starting point of the operation, control the unmanned equipment to start spraying liquid medicine.

[0098] In some embodiments, the processor may first determine that the spray tube is full of pesticide, then determine that the unmanned equipment has arrived at the work starting point, and then control the unmanned equipment to begin spraying pesticide. In other embodiments, the processor may first determine that the unmanned equipment has arrived at the work starting point, then determine that the spray tube is full of pesticide, and then control the unmanned equipment to begin spraying pesticide.

[0099] One way to determine if the medicine tube is full is to install a detection device, such as a volume sensor, in the unmanned equipment. This detection device can check if the medicine tube is full. If it detects that the tube is full, it sends this information to the processor, allowing the processor to confirm that the tube is full. Alternatively, the processor can determine that the tube is full after completing step S120.

[0100] According to the technical solution provided in the embodiments of this application, by controlling the unmanned equipment to start spraying the liquid medicine when it is determined that the liquid medicine in the tube is full of liquid medicine and the unmanned equipment has reached the starting point of the operation, it is ensured that the liquid medicine in the tube can immediately reach the nozzle or atomizing device when the unmanned equipment starts spraying the liquid medicine, and there is no gas in the tube, so the problem of leakage in the initial stage due to not being emptied can be avoided.

[0101] In some embodiments of this application, before S110 described above, the spraying control method of the unmanned equipment further includes step S102, and step S1103 is an exemplary implementation of step S110.

[0102] S102: Receive notification instructions for the unmanned equipment to fly to the start of the operation.

[0103] Specifically, the unmanned equipment can first fly to the operation start point (also known as the operation start waypoint), and then the processor can receive a notification command indicating that the unmanned equipment has flown to the operation start point. The notification command is an instruction indicating that the unmanned equipment has flown to the operation start point.

[0104] S1103: Before the unmanned equipment sprays the liquid medicine, the liquid medicine driving equipment is controlled to take the first action according to the notification instruction to vent the gas and / or residual liquid medicine in the medicine tube.

[0105] Specifically, when the unmanned equipment flies to the starting point of the operation, the processor controls the liquid-driven equipment to take the first action, thereby venting the gas and / or residual liquid in the liquid tube.

[0106] In this embodiment of the application, by setting the control of the liquid driving device to take the first action according to the notification instruction, the unmanned equipment can automatically complete the emptying process when it arrives at the work starting point. This can effectively prevent the residual liquid in the liquid pipe from being sprayed into the non-work area, causing adverse effects such as soil or vegetation pollution. It can also avoid the waste of liquid and facilitate the immediate start of spraying operation after the automatic emptying is completed.

[0107] Figure 9 The diagram shows a schematic representation of a spraying control device for an unmanned device according to some embodiments of this application. The spraying device includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the storage tank and the nozzle. The spraying control device 900 includes a first control module 910 and a second control module 920. The first control module 910 controls the medicine driving device to perform a first action before the unmanned device sprays medicine, to vent gas and / or residual medicine from the medicine pipe. The second control module 920 controls the medicine driving device to perform a second action, so that the medicine in the storage tank fills the medicine pipe.

[0108] It should be understood that the spraying control device 900 of the unmanned equipment can be located in the unmanned equipment or it can be a control device remotely connected to the unmanned equipment. This application does not make any specific limitation in this regard.

[0109] According to the technical solution provided in this application, before the unmanned equipment sprays the pesticide, the pesticide driving device is controlled to take a first action to empty the gas and / or residual pesticide in the pesticide tube, and then controlled to take a second action to fill the pesticide tube with pesticide from the storage tank. This effectively avoids missed spraying in the area at the beginning of the spraying operation and improves the accuracy of the spraying operation. This application provides an automatic pesticide tube emptying mechanism that can pre-treat the pesticide tube before the unmanned equipment sprays the pesticide, achieving automatic emptying of the pesticide tube, avoiding missed spraying caused by incomplete emptying, and simplifying the user's operation steps for the unmanned equipment.

[0110] In some embodiments of this application, the first control module 910 is further configured to control the liquid driving device to pump the gas and / or residual liquid in the drug tube back to the storage tank. In some embodiments of this application, the liquid driving device includes a drive motor and a peristaltic pump, wherein the first action is the reverse rotation of the peristaltic pump, and the second action is the forward rotation of the peristaltic pump.

[0111] In some embodiments of this application, the first control module 910 is also used to control the drive motor to drive the peristaltic pump to reverse N1 revolutions, where N1 revolutions is the number of revolutions required for the reverse peristaltic pump to completely pump the gas and / or residual liquid in the medicine tube back to the liquid storage tank.

[0112] In some embodiments of this application, the second control module 920 is further configured to control the drive motor to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with liquid medicine.

[0113] In some embodiments of this application, the spraying control device of the unmanned equipment may further include a determining module 905. The determining module 905 is used to determine the value of N1 in N1 revolutions based on the capacity of the medicine tube and the amount of liquid dispensed per revolution of the peristaltic pump; and to determine the first number of revolutions of the drive motor based on the value of N1. The first control module 910 is further used to control the drive motor to drive the peristaltic pump to reverse N1 revolutions based on the first number of revolutions of the drive motor.

[0114] In some embodiments of this application, the determining module 905 is further configured to divide the capacity of the medicine tube by the amount of liquid discharged per revolution of the peristaltic pump to calculate the value of N1 in N1 revolutions.

[0115] In some embodiments of this application, the determining module 905 is further configured to determine the value of N2 in N2 revolutions based on the value of N1; and to determine the second number of revolutions of the drive motor based on the value of N2. The second control module 920 is further configured to control the drive motor to drive the peristaltic pump to rotate forward N2 revolutions based on the second number of revolutions of the drive motor.

[0116] In some embodiments of this application, the spraying control device of the unmanned equipment further includes an acquisition module 901. The acquisition module 901 is also used to acquire a start spraying operation command. The first control module 910 is also used to control the liquid driving device to take a first action according to the start spraying operation command.

[0117] In some embodiments of this application, the spraying control device of the unmanned equipment further includes a third control module 930. The third control module 930 is also used to control the unmanned equipment to start spraying the pesticide when it is determined that the pesticide tube is full of pesticide and the unmanned equipment has reached the start point of the operation.

[0118] In some embodiments of this application, the acquisition module 901 is further configured to acquire a notification instruction from the unmanned equipment that it has flown to the start of the operation. The first control module 910 is further configured to control the liquid-driven equipment to take a first action according to the notification instruction.

[0119] It should be understood that the specific working process and functions of the first control module 910, the second control module 920, the determining module 905, the acquiring module 901, and the third control module 930 in the above embodiments can be referred to the above. Figures 3 to 8 The description of the spraying control method for unmanned equipment provided in the embodiments will not be repeated here to avoid repetition.

[0120] Figure 10 The diagram shown is a structural schematic of an unmanned device according to some embodiments of this application. The unmanned device 1000 includes a spraying device 1010 and a controller 1020. The spraying device 1010 may include a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the medicine storage tank and the nozzle. The controller 1020 is connected to the medicine driving device, and the controller 1020 is used to control the medicine driving device to perform a first action before the unmanned device sprays medicine, to vent gas and / or residual medicine in the medicine pipe, and to control the medicine driving device to perform a second action, so that the medicine in the medicine storage tank fills the medicine pipe.

[0121] According to the technical solution provided in this application, before the unmanned equipment sprays the pesticide, the pesticide driving device is controlled to take a first action to draw the gas and / or residual pesticide in the pesticide tube back to the storage tank. Additionally, the pesticide driving device is controlled to take a second action to fill the pesticide tube with pesticide from the storage tank. This effectively avoids missed spraying in the initial area of ​​the spraying operation and improves the accuracy of the spraying operation. This application also provides an automatic pesticide tube emptying mechanism, which can pre-treat the pesticide tube before the unmanned equipment sprays the pesticide, achieving automatic emptying of the pesticide tube, avoiding missed spraying caused by incomplete emptying, and simplifying the user's operation of the unmanned equipment.

[0122] It should be understood that the controller can also be used to perform the above. Figures 3 to 8 The specific working process and functions of any of the spraying control methods for unmanned equipment provided in the embodiments can be referred to the above. Figures 3 to 8 The description of the spraying control method for unmanned equipment provided in the embodiments will not be repeated here to avoid repetition.

[0123] Figure 11 The diagram shown is a structural schematic of an electronic device provided in some embodiments of this application.

[0124] Reference Figure 11 The electronic device 1100 includes a processor 1110, which further includes one or more processors, and memory resources represented by memory 1120 for storing instructions executable by the processor 110, such as application programs. The application programs stored in memory 1120 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 1110 is configured to execute instructions to perform any of the above-described spray control methods for unmanned equipment.

[0125] Electronic device 1100 may also include a power supply component configured for power management of electronic device 1100, a wired or wireless network interface configured to connect electronic device 1100 to a network, and an input / output (I / O) interface. Electronic device 1100 can operate on an operating system, such as Windows Server, stored in memory 1120. TM Mac OSX TM Unix TM Linux TM FreeBSD TM Or similar.

[0126] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the aforementioned electronic device 1100, enables the electronic device 1100 to perform a spraying control method for an unmanned device. This spraying control method for the unmanned device can be executed by an agent program. The spraying device for the unmanned device includes a pesticide storage tank, a pesticide driving device, a nozzle, and a pesticide tube connecting the storage tank and the nozzle. The spraying control method for the unmanned device includes, before the unmanned device sprays pesticide, controlling the pesticide driving device to perform a first action to vent gas and / or residual pesticide in the pesticide tube; and controlling the pesticide driving device to perform a second action to fill the pesticide tube with pesticide from the storage tank.

[0127] Those skilled in the art will recognize that the algorithmic steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0129] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program verification codes, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the apparatus and system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0131] It should also be noted that the combination of the technical features in the embodiments of this application is not limited to the combination methods described in the embodiments of this application or the combination methods described in specific embodiments. All technical features described in this application can be freely combined or combined in any way, unless they contradict each other.

[0132] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A spraying control method for unmanned equipment, characterized in that, The spraying device of the unmanned equipment includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the medicine storage tank and the nozzle. The spraying control method includes: Before the unmanned equipment sprays the liquid medicine, the liquid medicine driving device is controlled to take a first action to vent the gas and / or residual liquid medicine in the liquid medicine tube. The liquid medicine driving device includes a drive motor and a pump body; the pump body includes a peristaltic pump. The medicine driving device is controlled to perform a second action to fill the medicine tube with the medicine in the medicine storage tank; The first action of controlling the liquid driving device to vent the gas and / or residual liquid in the medicine tube includes: controlling the pump body to reverse so as to draw the gas and / or residual liquid in the medicine tube back to the medicine storage tank; Before the control of the liquid drug driving device to take the first action, the method further includes: Receive notification instructions that the unmanned equipment has flown to the start of the operation; The first action of controlling the liquid medicine driving device includes: The notification instruction controls the liquid driving device to perform the first action. The second action of controlling the liquid medicine driving device includes: The drive motor is controlled to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with medicine. The value of N2 in N2 times is determined based on the capacity of the medicine tube and the amount of liquid discharged per rotation of the peristaltic pump.

2. The spray control method according to claim 1, characterized in that, The second action is the forward rotation of the peristaltic pump.

3. The spray control method according to claim 2, characterized in that, The control of the liquid driving device to draw gas and / or residual liquid in the medicine tube back to the medicine storage tank includes: The drive motor is controlled to drive the peristaltic pump to reverse N1 revolutions. N1 revolutions is the number of revolutions required to reverse the peristaltic pump so that all the gas and / or residual medicine in the medicine tube can be drawn back to the medicine storage tank.

4. The spray control method according to claim 1, characterized in that, Before controlling the drive motor to drive the peristaltic pump to reverse N1 revolutions, the method further includes: The value of N1 in N1 revolutions is determined based on the capacity of the medicine tube and the amount of liquid discharged per revolution of the peristaltic pump. The number of the first revolutions of the drive motor is determined based on the value of N1; The step of controlling the drive motor to drive the peristaltic pump to reverse N1 revolutions includes: Based on the first number of rotations of the drive motor, control the drive motor to drive the peristaltic pump to reverse N1 rotations.

5. The spray control method according to claim 4, characterized in that, The determination of the value of N1 in N1 revolutions based on the capacity of the medicine tube and the amount of liquid discharged per revolution of the peristaltic pump includes: The value of N1 in N1 revolutions is calculated by dividing the capacity of the medicine tube by the amount of liquid discharged per revolution of the peristaltic pump.

6. The spray control method according to claim 5, characterized in that, After determining the value of N1 in N1 revolutions based on the capacity of the medicine tube and the amount of liquid discharged per revolution of the peristaltic pump, the method further includes: The value of N2 in circle N2 is determined based on the value of N1; The number of the second rotations of the drive motor is determined based on the value of N2; The step of controlling the drive motor to drive the peristaltic pump to rotate forward N2 revolutions includes: Based on the second rotation number of the drive motor, control the drive motor to drive the peristaltic pump to rotate forward N2 times.

7. The spray control method according to any one of claims 1 to 6, characterized in that, Before the control of the liquid drug driving device to take the first action, the method further includes: Receive the command to start spraying operation; The first action of controlling the liquid medicine driving device includes: The spraying operation is initiated by controlling the liquid-driven equipment to perform the first action.

8. The spraying control method according to any one of claims 1 to 6, characterized in that, After the control device for driving the liquid medicine takes a second action to fill the medicine tube with liquid medicine in the storage tank, the method further includes: Once it is confirmed that the medicine tube is full of medicine and the unmanned equipment has reached the starting point of the operation, the unmanned equipment is controlled to start spraying medicine.

9. A spraying control device for unmanned equipment, characterized in that, The spraying device of the unmanned equipment includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the medicine storage tank and the nozzle. The spraying control device includes: The first control module is used to control the liquid spraying device to take a first action before the unmanned equipment sprays the liquid, so as to vent the gas and / or residual liquid in the liquid tube. The liquid spraying device includes a drive motor and a pump body; the pump body includes a peristaltic pump. The second control module is used to control the liquid medicine driving device to take a second action so that the liquid medicine in the storage tank fills the medicine tube. The control of the liquid driving device to take a first action to vent the gas and / or residual liquid in the medicine tube includes: controlling the pump body to reverse to draw the gas and / or residual liquid in the medicine tube back to the medicine storage tank; Before the control of the liquid drug driving device to take the first action, the method further includes: Receive notification instructions that the unmanned equipment has flown to the start of the operation; The first action of controlling the liquid medicine driving device includes: The notification instruction controls the liquid driving device to perform the first action. The second action of controlling the liquid medicine driving device includes: The drive motor is controlled to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with medicine. The value of N2 in N2 times is determined based on the capacity of the medicine tube and the amount of liquid discharged per rotation of the peristaltic pump.

10. An unmanned device, characterized in that, include: A spraying device includes a medicine storage tank, a medicine driving device, a nozzle, and a medicine pipe connecting the medicine storage tank and the nozzle. The medicine driving device includes a drive motor and a pump body; the pump body includes a peristaltic pump. The controller, connected to the liquid-driving device, is used to control the liquid-driving device to take a first action before the unmanned device sprays the liquid to purge the gas and / or residual liquid in the liquid tube, and to control the liquid-driving device to take a second action so that the liquid in the storage tank fills the liquid tube. The control of the liquid driving device to take a first action to vent the gas and / or residual liquid in the medicine tube includes: controlling the pump body to reverse to draw the gas and / or residual liquid in the medicine tube back to the medicine storage tank; Before the control of the liquid drug driving device to take the first action, the method further includes: Receive notification instructions that the unmanned equipment has flown to the start of the operation; The first action of controlling the liquid medicine driving device includes: The notification instruction controls the liquid driving device to perform the first action. The second action of controlling the liquid medicine driving device includes: The drive motor is controlled to drive the peristaltic pump to rotate forward N2 times. N2 times is the number of rotations required for the peristaltic pump to fill the medicine tube with medicine. The value of N2 in N2 times is determined based on the capacity of the medicine tube and the amount of liquid discharged per rotation of the peristaltic pump.

11. An electronic device comprising a memory and a processor, characterized in that, The memory stores executable instructions for a computer, and when the processor executes the executable instructions, it implements a spraying control method for an unmanned device as described in any one of claims 1-8.

12. A computer-readable storage medium having stored thereon executable instructions for a computer, characterized in that, When the executable instructions are executed by the processor, they implement a spraying control method for an unmanned device as described in any one of claims 1-8.

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