Aircraft-based spraying treatment method, aircraft, control device and medium

Abstract

A spraying method based on an aircraft (101), an aircraft (101), a control device and a medium. The spraying method based on the aircraft (101) comprises: obtaining flight parameters of the aircraft (101) during a spraying operation of a spraying device; if the flight parameters meet adjustment conditions, obtaining information on the spraying amplitude of the spraying device when the flight parameters meet the adjustment conditions; determining adjustment parameters for the spraying operation based on the spraying amplitude information; and calibrating the spraying operation according to the adjustment parameters, thereby effectively improving the spraying amplitude of the spraying device carried on the aircraft (101) and improving the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to an aircraft-based spraying method, an aircraft, a control device and a medium. Background Art

[0002] Aircraft are used in many application scenarios (e.g., pesticide spraying, image shooting, search and rescue, etc.). Common aircraft used in these scenarios include rotorcraft, fixed-wing aircraft and other drones. For example, pesticide spraying involves plant protection drones, which are a new type of plant protection tool with high plant protection efficiency.

[0003] At present, plant protection drones often set specific operating parameters during plant protection operations to ensure that the spraying range of pesticides is effective. However, practice has found that the operating parameters of plant protection drones will change during the operation, which may reduce the effective spraying range and reduce the operation efficiency. Summary of the invention

[0004] The embodiments of the present invention provide an aircraft-based spraying treatment method, an aircraft, a control device and a medium, which can effectively improve the spraying range of a spraying device carried on the aircraft.

[0005] In a first aspect, an embodiment of the present invention provides a spraying method based on an aircraft, wherein the aircraft is equipped with a spraying device, and the spraying device is used to spray a target area, and the method includes:

[0006] Acquiring flight parameters of the aircraft during the spraying operation of the spraying device;

[0007] If the flight parameters meet the adjustment conditions, obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions;

[0008] Determining adjustment parameters of the spraying operation based on the spraying amplitude information;

[0009] The spraying operation is controlled according to the adjustment parameters; the operation control includes: flight control of the aircraft and / or spraying amplitude control of the spraying device.

[0010] In a second aspect, an embodiment of the present invention provides a control device, the control device comprising: a spray device, a memory, and a processor;

[0011] The spraying device is used to spray the target area;

[0012] The memory stores a computer program;

[0013] The processor calls the computer program to:

[0014] Acquiring flight parameters of the aircraft during the spraying operation of the spraying device;

[0015] If the flight parameters meet the adjustment conditions, obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions;

[0016] Determining adjustment parameters of the spraying operation based on the spraying amplitude information;

[0017] The spraying operation is controlled according to the adjustment parameters; the operation control includes: flight control of the aircraft and / or spraying amplitude control of the spraying device.

[0018] In a third aspect, an embodiment of the present invention provides an aircraft, the aircraft comprising: a power assembly, a storage device, and a controller; the aircraft is equipped with a spraying device, the spraying device is used to spray a target area;

[0019] The power assembly is used to drive the aircraft to move;

[0020] The storage device stores program instructions;

[0021] The controller calls the program instruction to:

[0022] Acquiring flight parameters of the aircraft during the spraying operation of the spraying device;

[0023] If the flight parameters meet the adjustment conditions, obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions;

[0024] Determining adjustment parameters of the spraying operation based on the spraying amplitude information;

[0025] The spraying operation is controlled according to the adjustment parameters; the operation control includes: flight control of the aircraft and / or spraying amplitude control of the spraying device.

[0026] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the processor executes the above-mentioned aircraft-based spraying treatment method.

[0027] In an embodiment of the present invention, after detecting that the flight parameters meet the adjustment conditions, the adjustment parameters of the spraying device are calculated, and the spraying operation is controlled according to the adjustment parameters, which can effectively improve the phenomenon of changes in spraying amplitude caused by changes in flight parameters and improve operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0029] Figure 1 is a schematic diagram of spraying amplitude information provided by an exemplary embodiment of the present application;

[0030] Figure 2 is a schematic diagram of a changing relationship between a flight speed and spraying amplitude information provided by an exemplary embodiment of the present application;

[0031] Figure 3 is a schematic diagram of a spray leak scenario provided by an exemplary embodiment of the present application;

[0032] Figure 4 It is a flow chart of a spraying treatment method based on an aircraft provided by an exemplary embodiment of the present application;

[0033] Figure 5 is a schematic diagram of adjusting the flight altitude provided by an exemplary embodiment of the present application;

[0034] Figure 6 is a schematic diagram of adjusting the flight speed provided by an exemplary embodiment of the present application;

[0035] Figure 7 It is a flow chart of a spraying treatment method based on an aircraft provided by an exemplary embodiment of the present application;

[0036] Figure 8 is a bird's-eye view schematic diagram of a flight route provided by an exemplary embodiment of the present application;

[0037] Fig. 9 is a structural schematic diagram of a control device provided by an exemplary embodiment of the present application;

[0038] Fig.10 It is a schematic structural diagram of an aircraft provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The embodiments of the present invention relate to a spraying device, and the spraying device herein refers to a device carried on an aircraft and used for spraying operations. Aircraft may include various types of drones, etc., and the present application does not limit this. For drones used for plant protection, materials (such as pesticides, clean water, etc.) can be sprayed by the spraying device carried by them to achieve pesticide spraying on crops. The spraying device carried on the plant protection drone may include a container (such as a water tank) and a nozzle, the container is used to store the spraying material, and the nozzle is used to spray the spraying material in the water tank.

[0041] Before the aircraft performs the spraying operation, the flight parameters of the aircraft are set first. The flight parameters of the aircraft are often set in advance based on the reference parameters obtained from the calibration test, which can ensure that the spraying amplitude information of the spraying device always meets the operation requirements when the flight parameters are constant. Among them:

[0042] (1) The flight parameters of the aircraft may include but are not limited to: flight altitude and flight speed. The flight altitude may refer to the height of the aircraft from the ground; the flight speed may refer to the operating speed of the aircraft. The spraying range information may refer to the range information of the spraying material sprayed onto the ground by the spraying device at a certain flight altitude and flight speed. The spraying range information includes but is not limited to: spraying coverage area (i.e., the total range covered by the spraying material), spraying angle, spraying lateral distance (i.e., the lateral distance of the area formed by the spraying material on the ground), etc.; for example, if the spraying material is pesticide water, the spraying range information may refer to the radius (or diameter) of the circular area formed by the pesticide water on the ground after the spraying device sprays the pesticide water onto the ground.

[0043] The following is combined with Figure 1 To illustrate the spraying range information of the sprinkler. Figure 1 , Figure 1 is a schematic diagram of spraying amplitude information provided by an exemplary embodiment of the present application; Figure 1As shown, a spraying device is mounted on the aircraft 101, and the spraying device includes a container 102 and at least one nozzle 103. When the aircraft 101 maintains the set flight parameters, the spraying material can be drained from the container 102 to the nozzle 103, and the nozzle 103 sprays the spraying material at a certain angle (such as α), and the spraying material can form a circle 104 with a radius of r on the ground. When the aircraft 101 rises in the vertical direction (that is, the flight altitude becomes higher), the radius of the circle that can be formed on the ground by the spraying material increases, which can effectively expand the coverage of the spraying operation in the spraying operation scene. When the aircraft 101 is lowered in the vertical direction (that is, the flight altitude becomes lower), the radius of the circle that can be formed on the ground by the spraying material decreases, which can effectively reduce the coverage of the spraying operation in the spraying operation scene. In the above process, the spraying range information of the spraying device may refer to the spraying angle α, the radius r of a circle, or the area of ​​a circle with a radius r, etc. The embodiment of the present invention does not limit the specific form of the spraying range information. Of course, in actual situations, the area formed on the ground by the sprayed material is not necessarily circular, but may also be an ellipse or other shapes. The above description takes a circle as an example, which does not limit the embodiment of the present invention.

[0044] (2) Calibration test refers to a test method that conducts multiple experimental tests over a historical period of time to obtain the relationship between flight parameters. The following is a diagram showing the relationship between the flight speed and spraying range of the aircraft at a flight altitude of 2 meters. Figure 2 , Figure 2 is a schematic diagram of a changing relationship between a flight speed and spraying amplitude information provided by an exemplary embodiment of the present application; Figure 2 As shown, when the flight altitude of the aircraft is 2 meters and the flight speed of the aircraft is 3 meters / second, the corresponding spraying width information is 4 meters (the spraying width information here is the radius mentioned above); when the flight speed of the aircraft is 4 meters / second, the corresponding spraying width information is 5 meters; when the flight speed of the aircraft is 5 meters / second, the corresponding spraying width information is 6 meters. In summary, when the flight altitude of the aircraft is 2 meters, the flight speed and the spraying width information of the spraying device are tested and the following test results are obtained: when the relative crop height remains unchanged and the flight speed of the aircraft is within a certain range, the spraying width information of the spraying device carried on the aircraft will increase with the increase of the flight speed of the aircraft.

[0045] It is understandable that in the scenario of aircraft spraying operations, if the aircraft always maintains the set flight parameters for movement, then the spraying range information of the spraying device always meets the spraying requirements. However, in actual operation scenarios, when the aircraft moves to the end point of the route, it is forced to stop the operation or turn around, etc., and the flight parameters will change, resulting in the spraying range information of the spraying device not meeting the spraying requirements. In this case, spraying leaks will occur, resulting in reduced operation efficiency. The following is an example of a spraying leak. Figure 3 To give the spraying operation scenario of the aircraft described above. Figure 3 , Figure 3 is a schematic diagram of a leaking spraying scenario provided by an exemplary embodiment of the present application; Figure 3 As shown, the route endpoints of the spraying operation of the aircraft 101 include endpoint 301 and endpoint 302; when the aircraft 101 moves from route endpoint 301 to route endpoint 302, the aircraft 101 can perform the spraying operation according to the set flight parameters; when the aircraft 101 is about to reach the route endpoint 302, the aircraft 101 starts to slow down so as to be able to turn around. At this time, the spraying amplitude information of the spraying device decreases as the flight speed decreases, resulting in the crops at the route endpoint 302 not being sprayed, and then there is a spraying leak, resulting in reduced spraying efficiency.

[0046] In order to improve the phenomenon of missed spraying by an aircraft (i.e., an aircraft) during a spraying operation, an embodiment of the present invention proposes a spraying processing scheme based on an aircraft; the scheme proposes: first, during the spraying operation of the aircraft, the flight parameters of the aircraft are obtained; second, if the flight parameters meet the adjustment conditions (for example, the flight speed is less than a certain speed threshold), the spraying amplitude information under the current flight parameters is obtained, and the adjustment parameters of the spraying operation are determined according to the spraying amplitude information; finally, the spraying operation is controlled according to the adjustment parameters. This can effectively improve the phenomenon of missed spraying by the aircraft and improve the operation efficiency.

[0047] The aircraft-based spraying treatment scheme involved in the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0048] See also Figure 4 , Figure 4 : is a flowchart of a spraying treatment method based on an aircraft provided by an exemplary embodiment of the present application; the scheme can be executed by an aircraft, and the scheme includes but is not limited to steps S401-S404, wherein:

[0049] S401, obtaining flight parameters of the aircraft during the spraying operation of the spraying device.

[0050] As described above, the flight parameters of the aircraft may include flight speed and flight altitude. Among them, the flight parameters of the aircraft can be obtained based on modules such as RTK (Real-time kinematic, carrier phase differential technology) and GPS (Global Positioning System, global positioning system) installed on the aircraft. It is worth noting that the aircraft can obtain flight parameters periodically, for example, the cycle time is 1 minute, 2 minutes, 1 and a half minutes, etc., which can avoid the aircraft from obtaining flight parameters in real time and reduce resource waste.

[0051] S402: If the flight parameters meet the adjustment conditions, obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

[0052] S403: Determine adjustment parameters of the spraying operation based on the spraying amplitude information.

[0053] S404: Control the spraying operation according to the adjustment parameters.

[0054] In steps S402-S404, the calculated adjustment parameters and the spraying operation control methods are different according to the different flight parameters obtained. The following takes the operation control as flight control of the aircraft and / or spraying amplitude control of the spraying device as an example for detailed description.

[0055] In one implementation, the flight parameter of the aircraft obtained is the flight speed, and the adjustment parameter of the spraying operation is the flight altitude; if the flight parameter satisfies the adjustment condition, the spraying amplitude information of the spraying device when the flight parameter satisfies the adjustment condition is obtained; based on the spraying amplitude information, the adjustment parameter of the spraying operation is determined; the method of controlling the spraying operation according to the adjustment parameter may include:

[0056] S11, if the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein, the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than the speed threshold. The adjustment condition is used to determine whether the aircraft needs to be controlled for spraying operations; when the flight speed of the aircraft meets the adjustment condition, it is determined that the aircraft needs to be controlled for spraying operations; conversely, when the flight speed of the aircraft does not meet the adjustment condition, it is determined that the aircraft does not need to be controlled for spraying operations.

[0057] Several adjustment conditions are given below to illustrate whether the flight speed of the aircraft meets the adjustment conditions, which does not limit the embodiments of the present invention, wherein: (1) The adjustment condition may be a pre-configured speed threshold. When the flight speed of the aircraft is less than or equal to the speed threshold, the aircraft is triggered to perform spraying operation control. For example: the speed threshold is 4 m / s. When the flight speed of the aircraft is detected to be 3.5 m / s, the aircraft is triggered to perform spraying operation control. (2) The adjustment condition may be a pre-configured speed change threshold. The so-called speed change threshold may refer to the speed difference between the initial moment and the final moment within the target time period. If within the target time period, the speed difference between the flight speed of the aircraft at the initial moment and the flight speed of the aircraft at the final moment is greater than or equal to the speed change threshold, the aircraft is triggered to perform spraying operation control. For example: Assuming that the speed change threshold is 1 m / s, assuming that the current time is 16:00 (i.e., the initial time) and the aircraft's flight speed is 6 m / s, from 16:00 through the target time period (e.g., 2 minutes) to 16:02 (i.e., the final time), the aircraft's flight speed is 4.8 m / s, and it is determined that the aircraft's speed difference within the target time period is 1.2 m / s, which is greater than 1 m / s (speed change threshold), indicating that the aircraft needs to perform spraying operation control, and the aircraft is triggered to perform spraying operation control. It should be noted that the above-described process of detecting whether the aircraft's flight speed meets the speed threshold and detecting whether the aircraft's speed difference meets the speed change threshold may not be performed in real time. For example, the aircraft may perform a detection operation every preset time (e.g., 60 seconds), which can relatively reduce the waste of resources caused by real-time detection and will not affect the accuracy of the detection results.

[0058] In step S11, based on the flight speed, the specific implementation method of calculating the spraying amplitude information corresponding to the flight speed may include: obtaining the spraying amplitude information corresponding to the flight speed according to the flight speed of the aircraft and the first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in the historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1. In other words, the aircraft is first calibrated and tested to obtain the relationship between the flight speed of the aircraft and the spraying amplitude information, that is, the first calibration calculation rule; and then, after detecting that the flight speed meets the adjustment condition, the flight speed is brought into the first calibration calculation rule to calculate the spraying amplitude information.

[0059] The embodiment of the present invention provides a first calibration calculation rule obtained through calibration test: d=0.75*(v-3)+4, wherein parameter d is the spraying amplitude information, and parameter v is the flight speed. For example, assuming that the speed threshold is 6 m / s, and the obtained flight speed is 5.5 m / s, then 5.5 m / s is less than 6 m / s, that is, it is determined that the aircraft needs to perform spraying operation control, then the flight speed of 5.5 m / s is brought into the first calibration calculation rule d=0.75*(v-3)+4, and it can be obtained that the spraying amplitude information of the aircraft when the flight speed is 5.5 m / s is 5.875 m.

[0060] S12, the aircraft calculates the flight change height of the aircraft according to the spraying amplitude information obtained in step S11, so that the aircraft can be controlled according to the flight change height. The specific implementation process of calculating the flight change height of the aircraft based on the spraying amplitude information may include: obtaining the initial spraying amplitude information of the spraying device; obtaining the spraying change amplitude information of the spraying device according to the initial spraying amplitude information and the spraying amplitude information of the spraying device under the adjustment conditions of the flight parameters; calculating the flight change height of the aircraft according to the spraying change amplitude information and the second calibration calculation rule; and then controlling the flight height of the aircraft according to the flight change height of the aircraft, so that the spraying amplitude information of the spraying device meets the requirements.

[0061] In the above description, the initial spraying amplitude information may refer to the spraying amplitude information corresponding to the flight speed set for the aircraft before the aircraft performs the spraying operation. When the aircraft operates according to the set flight parameters (such as the flight speed), the spraying amplitude information always remains as the initial spraying amplitude information, and when the flight parameters change, the spraying amplitude information of the spraying device changes with the flight speed. As described above, when the flight speed is maintained, the flight altitude increases, the spraying amplitude information of the spraying device increases, and when the flight altitude decreases, the spraying amplitude information of the spraying device also decreases. In order to ensure that the spraying amplitude information of the spraying device always meets the spraying requirements, when it is detected that the flight speed is less than the speed threshold, the flight altitude of the aircraft can be increased, which can effectively increase the spraying amplitude information of the spraying device and avoid missed spraying, so that when the flight speed is reduced, sufficient spraying coverage can be guaranteed.

[0062] The embodiment of the present invention provides a second calibration calculation rule obtained through calibration test: Δd=2*Δh*tan(α / 2), wherein Δd is the spraying variation range information, Δh is the flight variation height, and α is the effective spraying range of the nozzle in the spraying device. Of course, in addition to using the spraying variation range information and the flight variation height to represent the second calibration calculation rule, the spraying range information and the flight height can also be used to represent the second calibration calculation rule. In this case, the second calibration calculation rule can be: d=2*h*tan(α / 2), wherein d is the spraying range information, h is the flight height, and α is the effective spraying range of the nozzle in the spraying device.

[0063] Based on the relevant description shown in steps S11-S12, an overall example is given below to briefly illustrate the process of controlling the spraying operation according to the flight altitude of the aircraft when the flight speed meets the adjustment conditions, so as to adjust the spraying amplitude information of the spraying device so that the effective coverage range of the spraying operation meets the requirements: assuming that the flight speed threshold of the aircraft is 6 meters / second, the initial spraying amplitude information of the spraying device is 6 meters, the effective spraying range α of the nozzle in the spraying device is 60°, and the current flight speed of the aircraft is 5.5 meters / second. First, the current flight speed of the aircraft is 5.5 meters per second, which is less than the flight speed threshold of 6 meters per second. According to the current flight speed and the first calibration calculation rule, the spraying amplitude information of the spraying device when the flight speed is 5.5 meters per second is 5.875 meters; secondly, according to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight speed is 5.5 meters per second, the spraying change amplitude information Δd of the spraying device is calculated to be 1.125 meters; finally, according to the spraying change amplitude information Δd and the second calibration calculation rule, the flight change height Δh is approximately 0.324 meters. Therefore, by controlling the flight altitude of the aircraft to rise by 0.324, the effective spraying coverage range of the spraying device can meet the spraying operation conditions, thereby avoiding the phenomenon of missed spraying.

[0064] A schematic diagram of the scenario for this example can be found in Figure 5 , Figure 5 FIG. 1 is a schematic diagram of adjusting the flight altitude provided by an exemplary embodiment of the present application. Figure 5As shown, the set flight speed of the aircraft 101 and the flight speed threshold are 6 m / s. When the aircraft 101 operates at the set flight speed, the corresponding spraying amplitude information is the area S1 of a circle with a radius of r1; when the aircraft 101 is about to reach the route endpoint 302, the aircraft 101 starts to decelerate, and the flight speed drops to 5.5 m / s. The corresponding spraying amplitude information is the area S2 of a circle with a radius of r2, and S2 < S1; through the above implementation process, the flight change height Δh is calculated, and the aircraft 101 is flown up by Δh meters. At this time, the spraying amplitude information changes from the area S2 of a circle with a radius of r2 to the area S1 of a circle with a radius of r1. It can be seen that when the flight speed decreases, increasing the flight height can effectively compensate for the spraying amplitude information and relatively avoid the phenomenon of missed spraying.

[0065] In another implementation, the obtained flight parameters include the flight height of the aircraft, and the adjustment parameters for the spraying operation include the flight change speed of the aircraft; then if the flight parameters meet the adjustment conditions, the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions is obtained; based on the spraying amplitude information, the adjustment parameters for the spraying operation are determined; the ways to control the spraying operation according to the adjustment parameters may include:

[0066] S11, if the flight height meets the adjustment conditions, then based on the flight height, the spraying amplitude information corresponding to the flight height is calculated; wherein, the flight height of the aircraft meeting the adjustment conditions means that the flight height is less than the height threshold.

[0067] Among them, the flight height meeting the adjustment conditions may mean that the aircraft is at the current flight height less than the height threshold, and the height threshold is the flight height set for the aircraft before the spraying operation. In other words, when it is detected that the flight height of the aircraft decreases, it means that the effective spraying coverage range of the spraying device decreases, and at this time, an operation to control the spraying operation of the aircraft needs to be performed. Specifically, the spraying amplitude information corresponding to the flight height can be calculated by using the previously described method based on the flight height and the second calibration calculation rule. For example, assuming that the current flight height is 6 meters and the effective spraying range α of the nozzles in the spraying device is 60°, then according to the second calibration calculation rule d = 2 * h * tan(α / 2), the spraying amplitude information of the spraying device at a flight height of 6 meters is approximately 6.924 meters.

[0068] S12, based on the spraying amplitude information and the first calibration calculation rule, the flight change speed is obtained, and the speed operation of the spraying operation is controlled according to the flight change speed. Wherein, the specific implementation process of obtaining the flight change speed based on the spraying amplitude information and the first calibration calculation rule may include: obtaining the initial spraying amplitude information of the spraying device; obtaining the spraying change amplitude information of the spraying device according to the initial spraying amplitude information and the spraying amplitude information of the spraying device under the adjustment conditions of the flight parameters; calculating the flight change speed of the aircraft according to the spraying change amplitude information and the first calibration calculation rule; and then controlling the flight speed of the aircraft according to the flight change speed of the aircraft, so that the spraying amplitude information of the spraying device meets the requirements. Wherein, the first calibration calculation rule can refer to the aforementioned description of d=0.75*(v-3)+4, and the first calibration calculation rule can be deformed to obtain the deformed first calibration calculation rule Δd=0.75*(Δv-3)+4, and the deformed first calibration calculation rule can be directly used to characterize the relationship between the spraying change amplitude information and the flight change speed.

[0069] Based on the relevant description shown in steps S11-S12, an overall example is given below to briefly illustrate the process of controlling the spraying operation according to the flight speed of the aircraft when the flight altitude meets the adjustment conditions, so as to adjust the spraying amplitude information of the spraying device so that the effective coverage range of the spraying operation meets the requirements: assuming that the flight altitude threshold of the aircraft is 6 meters, the initial spraying amplitude information of the spraying device is 7 meters, the effective spraying range α of the nozzle in the spraying device is 60°, and the current flight altitude of the aircraft is 5.5 meters. First, the current flight altitude of the aircraft is 5.5 meters < the flight altitude threshold of 6 meters. According to the flight altitude and the second calibration calculation rule, the spraying amplitude information of the spraying device when the flight altitude is 5.5 meters is approximately 6.347 meters; secondly, according to the spraying amplitude information of 6.347 meters of the spraying device when the flight altitude is 5.5 meters and the initial spraying amplitude information of 7 meters, the spraying change amplitude information Δd of the spraying device is calculated to be 0.653 meters; finally, according to the spraying change amplitude information Δd and the first calibration calculation rule, the flight change speed Δv is approximately 1.463 meters / second, so the flight speed of the aircraft is controlled to increase by 1.463 meters per second, so that the effective spraying coverage range of the spraying device can meet the spraying operation conditions, thereby avoiding the phenomenon of missed spraying.

[0070] A schematic diagram of the scenario for this example can be found in Figure 6 , Figure 6 FIG. 1 is a schematic diagram of adjusting the flight speed provided by an exemplary embodiment of the present application. Figure 6As shown, when the flight altitude of the aircraft 101 decreases by Δh, the spraying amplitude information of the spraying device is reduced from the circular area S1 with a radius of r1 to the circular area S2 with a radius of r2; at this time, the flight speed of the aircraft is increased by Δv, and the corresponding spraying amplitude information is restored from the circular area S2 with a radius of r2 to the circular area S1 with a radius of r1. It can be seen that when the flight altitude decreases, the spraying amplitude information can be compensated by correspondingly increasing the flight speed, so that the spraying amplitude information meets the spraying demand.

[0071] To sum up, by controlling the flight speed or flight altitude of the aircraft (i.e., performing flight control of the aircraft), the spraying amplitude information of the spraying device can be adjusted so that the adjusted spraying amplitude information of the aircraft meets the requirements of the spraying operation, avoids spraying omissions, and effectively improves the efficiency of the spraying operation.

[0072] However, in addition to the above-mentioned adjustment of the flight speed or flight altitude to control the spraying amplitude information, after calculating the spraying change amplitude information, the nozzle of the spraying device can be directly controlled to achieve the control of the spraying amplitude information of the spraying device (that is, the spraying amplitude of the spraying device is controlled) to avoid missed spraying.

[0073] In detail, the spraying device includes a nozzle, which is used for spraying operations; the spraying processing scheme based on the aircraft may include: obtaining the flight parameters (flight speed or flight altitude) of the aircraft during the spraying operation of the spraying device; if the flight parameters meet the adjustment conditions, then obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; obtaining the initial spraying amplitude information of the spraying device; according to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, obtaining the spraying change amplitude information of the spraying device, the spraying change amplitude information is the adjustment parameter of the spraying operation; adjusting the nozzle of the spraying device according to the spraying change amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

[0074] Among them, the method of adjusting the nozzle of the spraying device may include but is not limited to: the aircraft controls the effective spraying range of the nozzle, specifically by controlling the opening size of the nozzle to control the effective spraying range; when the nozzle opening is larger, the effective spraying range of the nozzle is larger; when the nozzle opening is smaller, the effective spraying range of the nozzle is smaller. Among them, the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information, which can be understood as, after adjusting the opening size of the nozzle, the spraying amplitude information of the spraying device is basically the same as the initially set spraying amplitude information, so that the spraying amplitude information meets the spraying operation requirements. By directly adjusting the nozzle of the spraying device when it is detected that the flight parameters meet the adjustment conditions, the efficiency of adjusting the spraying amplitude information can be improved, and the spraying amplitude information can be adjusted more quickly to meet the spraying operation requirements.

[0075] In the embodiment of the present invention, by detecting whether the flight parameters of the aircraft meet the adjustment conditions, and when the flight parameters meet the adjustment conditions, the adjustment parameters of the spraying device are calculated; the spraying operation is adjusted according to the adjustment parameters. In this way, when it is detected that the spraying amplitude information of the spraying device does not meet the requirements, the spraying operation can be controlled, effectively improving the problem of spray leakage of the spraying device and improving the operation efficiency.

[0076] See also Figure 7 , Figure 7 : is a flowchart of a spraying treatment method based on an aircraft provided by an exemplary embodiment of the present application; the scheme can be executed by an aircraft, and the scheme includes but is not limited to steps S701-S707, wherein:

[0077] S701. Obtain the distance between the aircraft and the endpoint of the flight route of the target area.

[0078] The flight route endpoint refers to the endpoint where the flight parameters of the aircraft will change on the flight route. This type of endpoint can be the end point of the flight route, a turning point, etc. The flight route of the aircraft can be found in Figure 8 , Figure 8 is a bird's-eye view schematic diagram of a flight route provided by an exemplary embodiment of the present application; Figure 8 As shown, the flight route of the aircraft is a "Z" line, the starting point of the flight route is endpoint S, and the end point is endpoint E. From endpoint S to endpoint E, it will pass through multiple endpoints, such as endpoints P1, P2...; when the aircraft moves between flight endpoints, the aircraft maintains the pre-set flight parameters for movement, and when the aircraft moves to any endpoint PX (X is 1, 2, 3...), the flight parameters of the aircraft will change, and the step of obtaining flight parameters can be executed at this time. This can avoid the aircraft from frequently performing the operation of obtaining flight parameters and reduce energy consumption.

[0079] S702: Detect whether the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold.

[0080] The distance threshold can be set according to the specific spraying scenario. For example, different distance thresholds can be set under different flight parameters, which can better meet the scenario requirements. Among them, the method of detecting whether the distance between the aircraft and the flight route break of the target area is less than the distance threshold may include but is not limited to: (1) calculating the time for the aircraft to move to the target position before the end point of the flight route at the set flight speed, and setting the time as the time threshold; when the aircraft's flight time just reaches the time threshold, it means that the aircraft's flight parameters are about to change, and the step of obtaining the flight parameters is triggered. It should be noted that in an operation scenario, the aircraft may have multiple flight parameter changes (such as Figure 8 (2) A feedback object (such as an obstacle) is set at each flight route endpoint in the target area; when the aircraft flies to a position before the flight route endpoint, the feedback object is detected by a detection device (such as an image detection device, etc.) installed in the aircraft; when the feedback object is detected, the step of obtaining the flight parameters is triggered. In summary, compared with obtaining the flight parameters throughout the spraying scene, the above method can reduce the workload of the aircraft and reduce energy consumption.

[0081] S703: If the distance between the aircraft and the endpoint of the flight route of the target area is less than the distance threshold, obtain the flight parameters of the aircraft during the spraying operation of the spraying device.

[0082] S704: Check whether the flight parameters meet the adjustment conditions.

[0083] It should be noted that the relevant description of the specific implementation process of steps S703-S704 can be found in Figure 4 The relevant description of the specific implementation process of steps S401-S402 in the illustrated embodiment is not repeated here.

[0084] S705. If the flight parameters meet the adjustment conditions, obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

[0085] It is understandable that in some scenarios, when flight parameters change, it is not necessary to detect and adjust the spraying amplitude information of the spraying device. For example, when there is an obstacle (such as a tall tree) on the flight path of the aircraft, in order to avoid the obstacle, the aircraft can automatically reduce the flight speed and increase the flight altitude. In this case, the reduction in spraying amplitude information caused by the reduction in flight speed has been compensated by the increase in the flight altitude of the aircraft, and there is no need to detect the spraying device and subsequent operations.

[0086] It should be noted that the process described above can be completed by the aircraft itself, and of course it can also be completed by the user. Specifically, the equipment used with the aircraft includes a control device, which can be a remote control, a mobile phone, etc. When the flight parameters meet the adjustment conditions, the aircraft generates a notification message and sends the notification message to the control device, and the notification message is used to prompt the control device to prompt the user to confirm the operation adjustment of the aircraft; if the response result returned by the control device received by the aircraft is to confirm the operation adjustment of the aircraft, it triggers the execution of obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

[0087] In summary, performing subsequent operations only when it is confirmed that it is necessary to perform spraying amplitude information detection can reduce some unnecessary detection operations and reduce waste of resources.

[0088] S706: Determine adjustment parameters of the spraying operation based on the spraying amplitude information.

[0089] S707, controlling the spraying operation according to the adjustment parameters.

[0090] It should be noted that the relevant description of the specific implementation process of steps S706-S707 can be found in Figure 4 The relevant description of the specific implementation process of steps S403-S404 in the illustrated embodiment is not repeated here.

[0091] In the embodiment of the present invention, before the step of obtaining flight parameters and executing subsequent operation control, the distance between the aircraft and the end point of the flight route of the target area is detected, and when the distance between the aircraft and the end point of the flight route of the target area is less than the distance threshold, the step of obtaining flight parameters and executing subsequent operation control is triggered. This can relatively reduce the workload of the aircraft and reduce energy consumption.

[0092] An embodiment of the present invention provides a control device, which can be carried on an aircraft. Fig. 9 A structural diagram of a control device provided in an embodiment of the present invention, such as Fig. 9 As shown, the control device 900 includes a memory 901 and a processor 902 . Fig. 9 The control device shown can be used to perform the above Figure 4 or Figure 7 Part or all of the functions of the method embodiment described. The detailed description of each unit is as follows:

[0093] The spraying device is used to spray the target area;

[0094] The memory stores a computer program;

[0095] The processor calls the computer program to:

[0096] Acquiring flight parameters of the aircraft during the spraying operation of the spraying device;

[0097] If the flight parameters meet the adjustment conditions, obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions;

[0098] Determining adjustment parameters of the spraying operation based on the spraying amplitude information;

[0099] The spraying operation is controlled according to the adjustment parameters; the operation control includes: flight control of the aircraft and / or spraying amplitude control of the spraying device.

[0100] In one implementation, the flight parameters include the flight speed of the aircraft, and the adjustment parameters of the spraying operation include the flight change altitude of the aircraft; when the flight parameters meet the adjustment conditions, the processor 902 obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically performing the following operations:

[0101] If the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than a speed threshold;

[0102] Obtaining the flight change height based on the spraying amplitude information;

[0103] The aircraft is controlled according to the flight altitude change, and the flight control includes: flight altitude control of the aircraft.

[0104] In one implementation, when the processor 902 calculates the spraying amplitude information corresponding to the flight speed based on the flight speed, it specifically performs the following operations:

[0105] According to the flight speed of the aircraft and the first calibration calculation rule, spraying amplitude information corresponding to the flight speed is obtained;

[0106] The first calibration calculation rule is determined based on N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; N is an integer greater than 1.

[0107] In one implementation, when the processor 902 obtains the flight change height based on the spraying amplitude information, it specifically performs the following operations:

[0108] Acquiring initial spraying amplitude information of the spraying device;

[0109] According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained;

[0110] The flight change height of the aircraft is calculated based on the spraying change amplitude information and the second calibration calculation rule.

[0111] In one implementation, the second calibration calculation rule is determined based on M spraying amplitude information of the spraying device in a historical period and a flight height corresponding to each spraying amplitude information; M is an integer greater than 1.

[0112] In one implementation, the spraying device includes a spray head, and the spray head is used for spraying operation; when the processor 902 determines the adjustment parameter of the spraying operation based on the spraying amplitude information, it specifically performs the following operations:

[0113] Acquiring initial spraying amplitude information of the spraying device;

[0114] According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained, and the spraying variation amplitude information is the adjustment parameter of the spraying operation;

[0115] The step of controlling the spraying operation according to the adjustment parameters includes:

[0116] The nozzle of the spraying device is adjusted according to the spraying variation amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

[0117] In one implementation, the processor 902 is further configured to perform the following operations:

[0118] generating a notification message, and sending the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm an operation adjustment of the aircraft;

[0119] If the response result returned by the control device is to determine to adjust the operation of the aircraft, the process is triggered to obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

[0120] In one implementation, the processor 902 is further configured to perform the following operations:

[0121] Obtaining the distance between the aircraft and an endpoint of a flight route of the target area;

[0122] If the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold, the acquisition of the flight parameters of the aircraft during the spraying operation of the spraying device is triggered.

[0123] In one implementation, the flight parameters include the flight altitude of the aircraft, and the adjustment parameters of the spraying operation include the flight change speed of the aircraft; when the flight parameters meet the adjustment conditions, the processor 902 obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, determines the adjustment parameters of the spraying operation; and controls the spraying operation according to the adjustment parameters, specifically for performing the following operations:

[0124] If the flight altitude satisfies the adjustment condition, the spraying amplitude information corresponding to the flight altitude is calculated based on the flight altitude; wherein the flight altitude of the aircraft satisfies the adjustment condition means that the flight altitude is less than the altitude threshold;

[0125] The flight change speed is obtained based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in a historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1;

[0126] The spraying operation is controlled at a speed according to the flight change speed.

[0127] According to one embodiment of the present invention, Fig. 9 The various units in the control device shown can be individually or completely combined into one or several other units to form, or one (some) of the units can be further divided into multiple functionally smaller units to form, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present invention. The above-mentioned units are divided based on logical functions. In practical applications, the function of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present invention, the point control device can also include other units. In practical applications, these functions can also be implemented with the assistance of other units and can be implemented by the collaboration of multiple units. According to another embodiment of the present invention, it can be executed by running on a general computing device such as a computer including processing elements and storage elements such as a central processing unit (CPU), a random access storage medium (RAM), and a read-only storage medium (ROM). Figure 4 or Figure 7 A computer program (including program instructions) for each step involved in the corresponding method shown in FIG. Fig. 9The control device shown in the figure, and the spraying treatment method based on an aircraft according to an embodiment of the present invention are implemented. The above computer program can be recorded on, for example, a computer readable recording medium, and loaded into the above computing device through the computer readable recording medium, and run therein.

[0128] Based on the same inventive concept, the principles and beneficial effects of the control device provided in the embodiment of the present invention to solve the problem are similar to the principles and beneficial effects of the spraying treatment method based on the aircraft in the method embodiment of the present invention to solve the problem. Please refer to the principles and beneficial effects of the implementation of the method. For the sake of concise description, they will not be repeated here.

[0129] An embodiment of the present invention provides an aircraft. Fig.10 is a structural diagram of an aircraft provided by an embodiment of the present invention, such as Fig.10 As shown, the control device 1000 at least includes a controller 1001, a storage device 1002 and a power component, wherein the power component is used to drive the aircraft to move; the storage device 1002 stores program instructions, and the controller 1001 calls the program instructions in the storage device 1002. When the program instructions are executed, the controller 1001 performs the following operations:

[0130] Acquiring flight parameters of the aircraft during the spraying operation of the spraying device;

[0131] If the flight parameters meet the adjustment conditions, obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions;

[0132] Determining adjustment parameters of the spraying operation based on the spraying amplitude information;

[0133] The spraying operation is controlled according to the adjustment parameters; the operation control includes: flight control of the aircraft and / or spraying amplitude control of the spraying device.

[0134] In one implementation, the flight parameters include the flight speed of the aircraft, and the adjustment parameters of the spraying operation include the flight height change of the aircraft; when the flight parameters meet the adjustment conditions, the controller 1001 obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically performing the following operations:

[0135] If the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than a speed threshold;

[0136] Obtaining the flight change height based on the spraying amplitude information;

[0137] The aircraft is controlled according to the flight altitude change, and the flight control includes: flight altitude control of the aircraft.

[0138] In one implementation, when the controller 1001 calculates the spraying amplitude information corresponding to the flight speed based on the flight speed, the controller 1001 specifically performs the following operations:

[0139] According to the flight speed of the aircraft and the first calibration calculation rule, spraying amplitude information corresponding to the flight speed is obtained;

[0140] The first calibration calculation rule is determined based on N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; N is an integer greater than 1.

[0141] In one implementation, when the controller 1001 obtains the flight change height based on the spraying amplitude information, it specifically performs the following operations:

[0142] Acquiring initial spraying amplitude information of the spraying device;

[0143] According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained;

[0144] The flight change height of the aircraft is calculated based on the spraying change amplitude information and the second calibration calculation rule.

[0145] In one implementation, the second calibration calculation rule is determined based on M spraying amplitude information of the spraying device in a historical period and a flight height corresponding to each spraying amplitude information; M is an integer greater than 1.

[0146] In one implementation, the spraying device includes a spray head, and the spray head is used for spraying operation; when the controller 1001 determines the adjustment parameters of the spraying operation based on the spraying amplitude information, it specifically performs the following operations:

[0147] Acquiring initial spraying amplitude information of the spraying device;

[0148] According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained, and the spraying variation amplitude information is the adjustment parameter of the spraying operation;

[0149] The step of controlling the spraying operation according to the adjustment parameters includes:

[0150] The nozzle of the spraying device is adjusted according to the spraying variation amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

[0151] In one implementation, the controller 1001 is further configured to perform the following operations:

[0152] generating a notification message, and sending the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm an operation adjustment of the aircraft;

[0153] If the response result returned by the control device is to determine to adjust the operation of the aircraft, the process is triggered to obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

[0154] In one implementation, the controller 1001 is further configured to perform the following operations:

[0155] Obtaining the distance between the aircraft and an endpoint of a flight route of the target area;

[0156] If the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold, the acquisition of the flight parameters of the aircraft during the spraying operation of the spraying device is triggered.

[0157] In one implementation, the flight parameters include the flight altitude of the aircraft, and the adjustment parameters of the spraying operation include the flight change speed of the aircraft; when the flight parameters meet the adjustment conditions, the controller 1001 obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically for performing the following operations:

[0158] If the flight altitude satisfies the adjustment condition, the spraying amplitude information corresponding to the flight altitude is calculated based on the flight altitude; wherein the flight altitude of the aircraft satisfies the adjustment condition means that the flight altitude is less than the altitude threshold;

[0159] The flight change speed is obtained based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in a historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1;

[0160] The spraying operation is controlled at a speed according to the flight change speed.

[0161] The aircraft provided in this embodiment is capable of executing the aircraft-based spraying treatment scheme provided in the aforementioned embodiments, and its execution method and beneficial effects are similar and will not be described in detail here.

[0162] The embodiment of the present application further provides a computer-readable storage medium in which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the processor is caused to execute the following Figure 4 , Figure 7 The aircraft-based spraying treatment solution.

[0163] The computer-readable storage medium may be an internal storage unit of the aircraft described in any of the aforementioned embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the aircraft, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the aircraft. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the receiving bank for regularization and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the control device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0164] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0167] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program instructions.

[0168] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying treatment method based on an aircraft, characterized in that: The aircraft is equipped with a spraying device, and the spraying device is used to spray the target area. The method includes: Acquiring flight parameters of the aircraft during the spraying operation of the spraying device; If the flight parameter satisfies the adjustment condition, obtaining the change of the spraying amplitude information of the spraying device caused by the change of the flight parameter when the flight parameter satisfies the adjustment condition; Determining adjustment parameters of the spraying operation based on the spraying amplitude information; The spraying operation is controlled according to the adjustment parameters to compensate for the change of the spraying amplitude information.

2. The method according to claim 1, characterized in that The flight parameters include the flight speed of the aircraft, and the adjustment parameters of the spraying operation include the flight height change of the aircraft; if the flight parameters meet the adjustment conditions, the spraying amplitude information of the spraying device is obtained when the flight parameters meet the adjustment conditions; Determining adjustment parameters of the spraying operation based on the spraying amplitude information; The spraying operation is controlled according to the adjustment parameters, including: If the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than a speed threshold; Obtaining the flight change height based on the spraying amplitude information; The aircraft is controlled according to the flight altitude change, and the flight control includes: flight altitude control of the aircraft.

3. The method according to claim 2, characterized in that The calculating, based on the flight speed, the spraying amplitude information corresponding to the flight speed includes: According to the flight speed of the aircraft and the first calibration calculation rule, spraying amplitude information corresponding to the flight speed is obtained; The first calibration calculation rule is determined based on N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; N is an integer greater than 1.

4. The method according to claim 2, characterized in that The step of obtaining the flight change height based on the spraying amplitude information includes: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained; The flight change height of the aircraft is calculated based on the spraying change amplitude information and the second calibration calculation rule.

5. The method according to claim 4, characterized in that The second calibration calculation rule is determined based on M spraying amplitude information of the spraying device in the historical time and the flight height corresponding to each spraying amplitude information; M is an integer greater than 1.

6. The method according to claim 1, characterized in that The spraying device includes a spray head, and the spray head is used for spraying operation; the adjustment parameters of the spraying operation are determined based on the spraying amplitude information, including: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained, and the spraying variation amplitude information is the adjustment parameter of the spraying operation; The step of controlling the spraying operation according to the adjustment parameters includes: The nozzle of the spraying device is adjusted according to the spraying variation amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

7. The method according to claim 1, characterized in that Before obtaining the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions, the method further includes: Generate a notification message, and send the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm to adjust the operation of the aircraft; If the response result returned by the control device is to determine to adjust the operation of the aircraft, the process is triggered to obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

8. The method according to claim 1, characterized in that Before obtaining the flight parameters of the aircraft during the spraying operation of the spraying device, the method further includes: Obtaining the distance between the aircraft and an endpoint of a flight route of the target area; If the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold, the acquisition of the flight parameters of the aircraft during the spraying operation of the spraying device is triggered.

9. The method according to claim 1, characterized in that The flight parameters include the flight altitude of the aircraft, and the adjustment parameters of the spraying operation include the flight change speed of the aircraft; if the flight parameters meet the adjustment conditions, the spraying amplitude information of the spraying device is obtained when the flight parameters meet the adjustment conditions; Based on the spraying amplitude information, determining adjustment parameters of the spraying operation; and controlling the spraying operation according to the adjustment parameters, including: If the flight altitude satisfies the adjustment condition, the spraying amplitude information corresponding to the flight altitude is calculated based on the flight altitude; wherein the flight altitude of the aircraft satisfies the adjustment condition means that the flight altitude is less than the altitude threshold; The flight change speed is obtained based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in a historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1; The spraying operation is controlled at a speed according to the flight change speed.

10. An aircraft, characterized in that: The aircraft comprises: a power assembly, a storage device and a controller; the aircraft is equipped with a spraying device, and the spraying device is used to spray the target area; The power assembly is used to drive the aircraft to move; The storage device stores program instructions; The controller calls the program instruction to: Acquiring flight parameters of the aircraft during the spraying operation of the spraying device; If the flight parameter satisfies the adjustment condition, obtaining the change of the spraying amplitude information of the spraying device caused by the change of the flight parameter when the flight parameter satisfies the adjustment condition; Determining adjustment parameters of the spraying operation based on the spraying amplitude information; The spraying operation is controlled according to the adjustment parameters to compensate for the change of the spraying amplitude information.

11. The aircraft according to claim 10, characterized in that The flight parameters include the flight speed of the aircraft, and the adjustment parameters of the spraying operation include the flight change height of the aircraft; when the flight parameters meet the adjustment conditions, the controller obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically for: If the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than a speed threshold; Obtaining the flight change height based on the spraying amplitude information; The aircraft is controlled according to the flight altitude change, and the flight control includes: flight altitude control of the aircraft.

12. The aircraft according to claim 11, characterized in that When the controller calculates the spraying amplitude information corresponding to the flight speed based on the flight speed, it is specifically used to: According to the flight speed of the aircraft and the first calibration calculation rule, spraying amplitude information corresponding to the flight speed is obtained; The first calibration calculation rule is determined based on N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; N is an integer greater than 1.

13. The aircraft according to claim 11, characterized in that When the controller obtains the flight change height based on the spraying amplitude information, it is specifically used to: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained; The flight change height of the aircraft is calculated based on the spraying change amplitude information and the second calibration calculation rule.

14. The aircraft according to claim 13, characterized in that The second calibration calculation rule is determined based on M spraying amplitude information of the spraying device in the historical time and the flight height corresponding to each spraying amplitude information; M is an integer greater than 1.

15. The aircraft according to claim 10, characterized in that The spraying device includes a spray head, and the spray head is used for spraying operation; when the controller determines the adjustment parameters of the spraying operation based on the spraying amplitude information, it is specifically used for: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained, and the spraying variation amplitude information is the adjustment parameter of the spraying operation; The step of controlling the spraying operation according to the adjustment parameters includes: The nozzle of the spraying device is adjusted according to the spraying variation amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

16. The aircraft according to claim 10, characterized in that Before the controller obtains the spraying amplitude information of the spraying device under the condition that the flight parameters meet the adjustment conditions, it is also used to: Generate a notification message, and send the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm to adjust the operation of the aircraft; If the response result returned by the control device is to determine to adjust the operation of the aircraft, the process is triggered to obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

17. The aircraft according to claim 10, characterized in that Before the controller obtains the flight parameters of the aircraft during the spraying operation of the spraying device, it is also used to: Obtaining the distance between the aircraft and an endpoint of a flight route of the target area; If the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold, the acquisition of the flight parameters of the aircraft during the spraying operation of the spraying device is triggered.

18. The aircraft according to claim 10, characterized in that The flight parameters include the flight altitude of the aircraft, and the adjustment parameters of the spraying operation include the flight change speed of the aircraft; when the flight parameters meet the adjustment conditions, the controller obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically for: If the flight altitude satisfies the adjustment condition, the spraying amplitude information corresponding to the flight altitude is calculated based on the flight altitude; wherein the flight altitude of the aircraft satisfies the adjustment condition means that the flight altitude is less than the altitude threshold; The flight change speed is obtained based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in a historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1; The spraying operation is controlled at a speed according to the flight change speed.

19. A control device, characterized in that: The control device comprises: a spraying device, a memory and a processor; The spraying device is used to spray the target area; The memory stores a computer program; The processor calls the computer program to: Acquiring flight parameters of the aircraft during the spraying operation of the spraying device; If the flight parameter satisfies the adjustment condition, obtaining the change of the spraying amplitude information of the spraying device caused by the change of the flight parameter when the flight parameter satisfies the adjustment condition; Determining adjustment parameters of the spraying operation based on the spraying amplitude information; The spraying operation is controlled according to the adjustment parameters to compensate for the change of the spraying amplitude information.

20. The control device according to claim 19, characterized in that The flight parameters include the flight speed of the aircraft, and the adjustment parameters of the spraying operation include the flight change height of the aircraft; when the flight parameters meet the adjustment conditions, the processor obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically for: If the flight speed of the aircraft meets the adjustment condition, then based on the flight speed, the spraying amplitude information corresponding to the flight speed is calculated; wherein the flight speed of the aircraft meets the adjustment condition means that the flight speed is less than a speed threshold; Obtaining the flight change height based on the spraying amplitude information; The aircraft is controlled according to the flight altitude change, and the flight control includes: flight altitude control of the aircraft.

21. The control device according to claim 20, characterized in that When the processor calculates the spraying amplitude information corresponding to the flight speed based on the flight speed, the processor is specifically used to: According to the flight speed of the aircraft and the first calibration calculation rule, spraying amplitude information corresponding to the flight speed is obtained; The first calibration calculation rule is determined based on N flight speeds of the aircraft in historical time and spraying amplitude information corresponding to each flight speed; N is an integer greater than 1.

22. The control device according to claim 20, characterized in that When the processor obtains the flight change height based on the spraying amplitude information, it is specifically used to: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained; The flight change height of the aircraft is calculated based on the spraying change amplitude information and the second calibration calculation rule.

23. The control device according to claim 22, characterized in that The second calibration calculation rule is determined based on M spraying amplitude information of the spraying device in the historical time and the flight height corresponding to each spraying amplitude information; M is an integer greater than 1.

24. The control device according to claim 19, characterized in that The spraying device includes a spray head, and the spray head is used for spraying operation; when the processor determines the adjustment parameters of the spraying operation based on the spraying amplitude information, it is specifically used to: Acquiring initial spraying amplitude information of the spraying device; According to the initial spraying amplitude information and the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions, the spraying variation amplitude information of the spraying device is obtained, and the spraying variation amplitude information is the adjustment parameter of the spraying operation; The step of controlling the spraying operation according to the adjustment parameters includes: The nozzle of the spraying device is adjusted according to the spraying variation amplitude information, so that the spraying amplitude information corresponding to the adjusted spraying device matches the initial spraying amplitude information.

25. The control device according to claim 19, characterized in that Before obtaining the spraying amplitude information of the spraying device when the flight parameters meet the adjustment condition, the processor is further used to: Generate a notification message, and send the notification message to a control device, wherein the notification message instructs the control device to prompt a user to confirm to adjust the operation of the aircraft; If the response result returned by the control device is to determine to adjust the operation of the aircraft, the process is triggered to obtain the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions.

26. The control device according to claim 19, characterized in that Before obtaining the flight parameters of the aircraft during the spraying operation of the spraying device, the processor is further used to: Obtaining the distance between the aircraft and an endpoint of a flight route of the target area; If the distance between the aircraft and the endpoint of the flight route of the target area is less than a distance threshold, the acquisition of the flight parameters of the aircraft during the spraying operation of the spraying device is triggered.

27. The control device according to claim 19, characterized in that The flight parameters include the flight altitude of the aircraft, and the adjustment parameters of the spraying operation include the flight change speed of the aircraft; when the flight parameters meet the adjustment conditions, the processor obtains the spraying amplitude information of the spraying device when the flight parameters meet the adjustment conditions; based on the spraying amplitude information, the adjustment parameters of the spraying operation are determined; and the spraying operation is controlled according to the adjustment parameters, specifically for: If the flight altitude satisfies the adjustment condition, the spraying amplitude information corresponding to the flight altitude is calculated based on the flight altitude; wherein the flight altitude of the aircraft satisfies the adjustment condition means that the flight altitude is less than the altitude threshold; The flight change speed is obtained based on the spraying amplitude information and a first calibration calculation rule; the first calibration calculation rule is determined according to N flight speeds of the aircraft in a historical time and the spraying amplitude information corresponding to each flight speed; N is an integer greater than 1; The spraying operation is controlled at a speed according to the flight change speed.

28. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the processor is caused to execute the aircraft-based spraying treatment method according to any one of claims 1 to 9.

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