Spraying operation method, device and equipment of unmanned aerial vehicle and storage medium

Abstract

The invention discloses a spraying operation method, device and equipment of an unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle carries a spraying device, the spraying device comprises a water pump and a spraying disc, and the method comprises the steps that the actual flight speed of the unmanned aerial vehicle in the spraying operation process is obtained; determining an expected water pump rotating speed according to the actual flight speed; determining an expected spraying disc rotating speed according to the expected water pump rotating speed; determining an adjusting sequence of a water pump and a spraying disc; adjusting the rotating speed of the water pump to the expected rotating speed of the water pump and adjusting the rotating speed of the spraying disc to the expected rotating speed of the spraying disc based on the adjusting sequence. Through the technical means, the rotating speed of the water pump and the rotating speed of the spraying disc of the spraying device are sequentially adjusted in real time according to the actual flight speed of the unmanned aerial vehicle in the spraying operation process, the problem that atomized particles of sprayed liquid are too fine or cannot be atomized in the prior art is solved, and the spraying effect of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a spraying operation method, apparatus, equipment, and storage medium using a UAV. Background Technology

[0002] With the rapid development of drones, their applications in industry, logistics, and agriculture are becoming increasingly widespread. In some areas, drones can be equipped with spraying devices to perform spraying operations, such as controlling a spraying device to spray pesticides or water onto plants in farmland, woodlands, or urban greenbelts. Drones have automatic spraying capabilities; they can fly along a pre-planned route and control the spraying device to spray pesticides or water at a preset flow rate during flight. However, drones cannot maintain a constant flight speed. If the spraying flow rate remains the same when the drone's flight speed changes, the amount of sprayed at different locations within the same work area will be inconsistent, resulting in poor spraying effectiveness.

[0003] In related technologies, to optimize the spraying effect of drones, an adaptive spraying flow rate adjustment method for drones has been proposed. This method dynamically adjusts the spraying flow rate of the spraying device based on the real-time flight speed and the spraying volume per unit area of ​​the work area during spraying operations, thereby ensuring the same spraying volume at different locations within the work area. However, changes in the spraying flow rate can lead to changes in the atomization degree of the sprayed liquid, resulting in excessively fine or non-atomized atomized particles, thus affecting the drone's spraying effect. Summary of the Invention

[0004] This application provides a spraying method, apparatus, equipment, and storage medium for drones, which adjusts the water pump speed and spray disc speed of the spraying device in real time and in an orderly manner according to the actual flight speed of the drone during the spraying operation. This solves the problem of excessively fine or non-atomized atomized liquid particles in related technologies and improves the spraying effect of drones.

[0005] In a first aspect, this application provides a spraying operation method using a drone, wherein the drone is equipped with a spraying device, the spraying device including a water pump and a spray disc, and the method includes:

[0006] Obtain the actual flight speed of the drone during the spraying operation;

[0007] The desired water pump speed is determined based on the actual flight speed.

[0008] Determine the desired spray disc rotation speed based on the desired water pump rotation speed;

[0009] Determine the adjustment sequence of the water pump and the spray disc;

[0010] Based on the adjustment sequence, the rotation speed of the water pump is adjusted to the desired water pump speed, and the rotation speed of the spray disc is adjusted to the desired spray disc speed.

[0011] Secondly, this application provides a spraying device for a drone, wherein the drone is equipped with the spraying device, the spraying device includes a water pump and a spray disc, and the device includes:

[0012] The flight speed acquisition module is configured to acquire the actual flight speed of the UAV during the spraying operation.

[0013] The first rotation speed determination module is configured to determine the desired water pump rotation speed based on the actual flight speed of the UAV.

[0014] The second rotation speed determination module is configured to determine the desired spray disc rotation speed based on the desired water pump rotation speed.

[0015] The adjustment sequence determination module is configured to determine the adjustment sequence of the water pump and the spray disc;

[0016] The speed adjustment module is configured to adjust the speed of the water pump to the desired water pump speed and the speed of the spray disc to the desired spray disc speed based on the adjustment sequence.

[0017] Thirdly, this application provides a spraying device for unmanned aerial vehicles (UAVs), comprising:

[0018] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the spraying operation method of the drone as described in the first aspect.

[0019] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the spraying operation method of the drone as described in the first aspect.

[0020] In this application, the actual flight speed of the UAV during spraying operations is obtained, and the desired water pump speed is determined based on the actual flight speed. The desired spray disc speed is then determined based on the desired water pump speed. An adjustment sequence between the water pump and the spray disc is determined, and the water pump speed and the spray disc speed are adjusted to the desired speed according to this sequence. Through these technical means, a water pump speed matching the UAV's actual flight speed during spraying operations can be determined to obtain the desired water pump speed, ensuring the same spray volume at all locations within the work area. A spray disc speed matching the desired water pump speed is determined to obtain the desired spray disc speed, ensuring the atomized particle size of the sprayed liquid remains within a reasonable range, avoiding situations where the sprayed liquid has excessively fine or non-atomized particles. This solves the problem of excessively fine or non-atomized particles in related technologies and improves the spraying effect of the UAV. By determining the adjustment sequence of the water pump and spray disc, the spray disc and water pump can be adjusted to the corresponding desired speed in an orderly manner according to the adjustment sequence, avoiding water dripping from the spray disc during the adjustment process and ensuring the operational safety of the drone. Attached Figure Description

[0021] Figure 1 This is a flowchart of a spraying operation method using a drone provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the spraying operation process of the drone provided in the embodiments of this application;

[0023] Figure 3 This is one of the schematic diagrams illustrating the rotational speed change process of the spray disc and water pump provided in the embodiments of this application;

[0024] Figure 4 This is a second schematic diagram illustrating the rotational speed change process of the spray disc and water pump provided in the embodiments of this application;

[0025] Figure 5 This is the third schematic diagram of the rotational speed change process of the spray disc and water pump provided in the embodiments of this application;

[0026] Figure 6 This is the fourth schematic diagram of the rotational speed change process of the spray disc and water pump provided in the embodiments of this application;

[0027] Figure 7 This is the fifth schematic diagram of the rotational speed change process of the spray disc and water pump provided in the embodiments of this application;

[0028] Figure 8 This is a schematic diagram of the control framework for the spray disc and water pump provided in the embodiments of this application;

[0029] Figure 9This is a schematic diagram of the structure of a spraying device for a drone provided in an embodiment of this application;

[0030] Figure 10 This is a schematic diagram of the structure of a drone provided in an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0032] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0033] In relevant implementations, drones can perform spraying operations through adaptive spray flow rate adjustment. Users can pre-set spraying parameters and atomization particle size, where spraying parameters refer to the spray volume per unit area of ​​the work area, and atomization particle size refers to the atomized particle size of the sprayed liquid. During spraying operations, the drone can dynamically adjust the spray flow rate of the spraying device based on the spraying parameters and flight speed. For example, when the flight speed increases, the spray flow rate will increase accordingly to maintain a constant spray volume per unit area of ​​the work area; conversely, when the flight speed decreases, the spray flow rate will decrease accordingly to maintain a constant spray volume per unit area of ​​the work area. The spray flow rate of the spraying device is controlled by the water pump of the spraying device; a higher water pump speed results in a higher spray flow rate, and a lower water pump speed results in a lower spray flow rate. However, the spray disc speed of the spraying device is fixed. Increasing or decreasing the water pump speed will cause the atomized particle size of the sprayed liquid to decrease or increase, resulting in excessively fine or non-atomized particles, thus failing to meet the atomization particle size set by the user and affecting the drone's operational effectiveness.

[0034] To address the problems existing in the above-mentioned implementation methods, this embodiment provides a spraying operation method for drones, which adjusts the water pump speed and spray disc speed of the spraying device in real time and in an orderly manner according to the actual flight speed of the drone during the spraying operation. This solves the problem of excessively fine or non-atomized atomized liquid in related technologies, and improves the spraying effect of drones.

[0035] The drone spraying operation method provided in this embodiment can be executed by a drone spraying device, which can be implemented through software and / or hardware. This drone spraying device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the drone spraying device can be the drone itself, or it can be the drone's processor. In this embodiment, the drone is equipped with a spraying device, which includes a water pump and a spray disc. The water pump controls the spray flow rate of the liquid to be sprayed, and the spray disc atomizes the liquid. When the drone performs the spraying operation, it can control the rotation of the water pump and the spray disc to atomize and spray the liquid onto the work area.

[0036] The drone spraying equipment is equipped with at least one type of operating system. Based on this operating system, the drone spraying equipment can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone spraying equipment has at least one application capable of executing the drone's spraying operation method.

[0037] For ease of understanding, this embodiment uses a drone as the main entity for performing the drone spraying operation method as an example for description.

[0038] Figure 1 A flowchart of a spraying operation method using a drone, as provided in an embodiment of this application, is given. (Reference) Figure 1 The spraying method of this drone specifically includes:

[0039] S110: Obtain the actual flight speed of the drone during the spraying operation.

[0040] For example, users can configure spraying task information via remote control equipment. This task information includes the drone's flight path, work area, spray volume, spray width, target atomized particle size, and flight parameters. The spray volume can be the total spray volume for the entire work area or the spray volume per unit area of ​​the work area. When the spray volume is the total spray volume for the entire work area, the drone can determine the spray volume per unit area of ​​the work area based on the area and the total spray volume. The target atomized particle size refers to the atomized particle size of the liquid that the drone plans to spray during the spraying operation. After configuring the task information, the remote control equipment uploads the task information to the drone. The drone creates the corresponding spraying task based on the received task information. Then, after the spraying device is loaded with the liquid to be sprayed, it begins to execute the spraying task autonomously.

[0041] During spraying operations, the drone flies along its flight path and controls its spraying device to spray liquid onto the work area below. The drone continuously monitors its actual flight speed during spraying to adjust the spray flow rate accordingly, ensuring a consistent spray volume across the work area. The actual flight speed is the drone's real-time detected speed during the spraying operation. The drone can detect its actual flight speed directly through its installed speed sensor, or it can calculate the actual flight speed by combining its position from a positioning sensor with its flight time.

[0042] S120, Determine the desired water pump speed based on the actual flight speed.

[0043] For example, Figure 2 This is a schematic diagram of the spraying operation process of the drone provided in an embodiment of this application. Figure 2As shown, the drone 11 flies above the work area 12 along the flight path 12 of the spraying task and sprays the work area 12 below. Assuming the drone's flight speed from waypoint A to waypoint C is greater than its flight speed from waypoint C to waypoint B, and if the water pump speed remains constant during the drone's flight from waypoint A to waypoint B (i.e., the spray flow rate remains constant), the total spray volume from waypoint A to waypoint C is less than the total spray volume from waypoint C to waypoint B because the flight time from waypoint A to waypoint C is less than the flight time from waypoint C to waypoint B. This results in a lower spray volume per unit area in the work area 13 between waypoints A and C compared to the work area 13 between waypoints C and B. In other words, the spray volume varies at different locations within the work area, affecting the drone's spraying effect. To address this, the water pump speed can be adjusted in real-time according to the drone's actual flight speed, with the desired adjustment being the water pump speed corresponding to the current actual flight speed.

[0044] The above analysis shows that increasing the drone's flight speed corresponds to increasing the water pump speed, thereby increasing the spray flow rate of the spraying device and maintaining a constant spray volume at each location within the work area. Conversely, decreasing the drone's flight speed corresponds to decreasing the water pump speed, thereby decreasing the spray flow rate of the spraying device and maintaining a constant spray volume at each location within the work area. Therefore, there is a positive correlation between flight speed and water pump speed. This positive correlation can be pre-calibrated, and during spraying operations, the desired water pump speed can be determined based on the pre-calibrated positive correlation and the actual flight speed.

[0045] Optionally, the mapping relationship between flight speed and water pump speed is determined by the spray volume per unit area of ​​the work area. The desired water pump speed corresponding to the actual flight speed can be determined based on a preset spray volume per unit area. For example, after detecting the actual flight speed, the UAV obtains the spray volume per unit area of ​​the work area from the mission information, determines the mapping relationship between flight speed and water pump speed based on the spray volume per unit area, and then calculates the desired water pump speed by substituting the actual flight speed into this mapping relationship. Alternatively, spray volume per unit area = spray volume / area = (spray flow rate * time) / (flight speed * time * spray width), therefore, spray flow rate = spray volume per unit area / (flight speed * spray width). The desired spray flow rate can be determined based on the actual flight speed, preset spray width, and spray volume per unit area, and the desired water pump speed can be determined based on the desired spray flow rate. Here, the desired spray flow rate is the flow rate of the liquid that the current spraying device plans to spray. This embodiment determines the desired water pump speed by setting a preset unit area spray volume and the actual flight speed. When adjusting the water pump speed based on the desired water pump speed, it ensures that the spray volume at each location in the work area meets the preset unit area spray volume, thereby improving the spraying effect of the UAV.

[0046] It should be noted that if the actual flight speed of the drone remains unchanged from the previous moment, the water pump speed does not need to be adjusted; that is, the desired water pump speed does not need to be determined. If the actual flight speed of the drone changes compared to the previous moment, the water pump speed must be adjusted; that is, the desired water pump speed is determined based on the actual flight speed. Optionally, the current flight path of the drone can be determined as an acceleration segment, a deceleration segment, or a constant speed segment based on the flight trajectory. When the current flight path is a constant speed segment, it can be determined that the actual flight speed remains unchanged from the previous moment, and in this case, it is not necessary to determine the desired water pump speed or adjust the water pump speed. When the current flight path is a non-constant speed segment (i.e., an acceleration or deceleration segment), it can be determined that the actual flight speed has changed compared to the previous moment, and the desired water pump speed can then be determined based on the actual flight speed, thereby adjusting the water pump speed based on the desired water pump speed.

[0047] S130. Determine the desired spray disc speed based on the desired water pump speed.

[0048] For example, when the water pump speed increases, if the spray disc speed remains constant, the atomized liquid particles will become larger or even fail to atomize. Conversely, when the water pump speed decreases, if the spray disc speed remains constant, the atomized liquid particles will become smaller. Therefore, if the spray disc speed is not adjusted synchronously when adjusting the water pump speed, the atomized liquid particles will become too fine or fail to atomize. If the atomized liquid particles are too fine, they will drift to other locations in the work area, affecting the drone's spraying performance. In other words, the spray disc speed should be adjusted simultaneously with the water pump speed to avoid the problem of excessively fine or non-atomized liquid particles. To address this, after determining the desired water pump speed, the desired spray disc speed can be determined based on it. The desired spray disc speed is the adjusted spray disc speed corresponding to the current actual flight speed.

[0049] The above analysis shows that increasing the water pump speed corresponds to increasing the spray disc speed to prevent the sprayed liquid from failing to atomize. Conversely, decreasing the water pump speed corresponds to decreasing the spray disc speed to prevent the sprayed liquid from having excessively fine atomized particles. Therefore, there is a positive correlation between the water pump speed and the spray disc speed. This positive correlation can be pre-calibrated, and during spraying operations, the desired spray disc speed can be determined based on the pre-calibrated positive correlation and the desired water pump speed.

[0050] Optionally, the mapping relationship between the water pump speed and the spray disc speed is determined by the target atomization particle size preset in the task information. The desired spray disc speed corresponding to the desired water pump speed can be determined based on the target atomization particle size. For example, after determining the desired water pump speed, the UAV obtains the target atomization particle size from the task information, determines the mapping relationship between the water pump speed and the spray disc speed based on the target atomization particle size, and then substitutes the desired water pump speed into this mapping relationship to calculate the desired spray disc speed. This embodiment determines the desired spray disc speed by using the target atomization particle size and the desired water pump speed to ensure that the atomization particle size of the sprayed liquid meets the target atomization particle size when adjusting the spray disc speed based on the desired spray disc speed, thereby improving the spraying effect of the UAV.

[0051] Alternatively, a test relationship table can be established by pre-testing the mapping relationship between water pump speed, spray disc speed, and atomized particle size. The desired spray disc speed corresponding to the desired water pump speed can then be queried from the test relationship table. Specifically, a preset test relationship table is obtained, which includes the mapping relationship between water pump speed, spray disc speed, and atomized particle size; the desired spray disc speed is determined based on the test relationship table, the desired water pump speed, and the target atomized particle size. For example, Tables 1 and 2 are test relationship tables provided in embodiments of this application.

[0052] Table 1

[0053]

[0054] Table 2

[0055]

[0056]

[0057] As shown in Tables 1 and 2, N1 is the spray disc speed, and N2 is the water pump speed. The value in each cell of Tables 1 and 2 represents the atomized particle size at the water pump speed of the row and the spray disc speed of the column. For example, when the water pump speed is 3400 and the spray disc speed is 4000, the atomized particle size is 150. After determining the desired water pump speed and obtaining the target atomized particle size, the target cell corresponding to the target atomized particle size and desired water pump speed can be queried in the test relationship table shown in Tables 1 and 2 based on the desired water pump speed and target atomized particle size. The spray disc speed in the column containing the target cell is then determined as the desired spray disc speed. For example, if the target atomized particle size is 230 and the desired water pump speed is 4600, the cell in the eighth row and fifth column of Table 1 can be determined as the target cell, and thus the spray disc speed of 4000 in the fifth column of Table 1 can be determined as the desired spray disc speed. This embodiment can quickly look up the target atomized particle size and the expected spray disc speed corresponding to the expected water pump speed through a pre-calibrated test relationship table, thereby improving the efficiency and accuracy of determining the expected spray disc speed.

[0058] S140. Determine the adjustment sequence of the water pump and spray disc.

[0059] For example, the adjustment sequence of the water pump and the spray disc can be determined to be synchronous adjustment, that is, the speed of the water pump and the speed of the spray disc are adjusted synchronously to the desired water pump speed and the desired spray disc speed.

[0060] Due to factors such as hardware or communication delays, the changes in water pump speed and spray disc speed are not synchronized. That is, although the drone simultaneously sends drive signals to both the water pump motor and the spray disc motor, the different lengths of the communication links between the drone and the water pump motor and / or the different response speeds of the water pump motor and the spray disc motor cause the water pump or spray disc speed to change first, followed by the spray disc or water pump speed. As shown in Tables 1 and 2, the test relationship tables indicate that as the water pump speed increases, the atomization range of the spray disc speed narrows, and the adjustable range of the spray disc speed also narrows. This is because as the water pump speed increases, the spray disc needs a higher speed to atomize the sprayed liquid into atomized particles of the same particle size; otherwise, if the spray disc speed is too low, some sprayed liquid will not have enough time to atomize, resulting in dripping from the spray disc. Due to the power limitation of the spray disc motor, the higher the water pump speed, the higher the load on the spray disc, and therefore the greater the power required at the same speed. Therefore, when the water pump speed is too high, it is impossible to increase the spray disc speed to ensure atomized particle size.

[0061] It should be noted that the drone's flight speed is highest during the constant speed segment of its flight path during spraying operations. Therefore, the water pump speed is also the highest during the constant speed segment. Generally speaking, the target atomization particle size added by the user in the task information of the spraying task will not exceed the atomization range of the atomization particle size at the maximum water pump speed.

[0062] Assuming the current actual spray disc speed of the drone is 3300 rpm, the actual water pump speed is 5200 rpm, the desired water pump speed is 5800 rpm, and the actual water pump speed is 3800 rpm. If the water pump is adjusted first and the spray disc is adjusted later, the water pump speed will exceed the atomization range of the actual spray disc speed, resulting in some sprayed liquid not being atomized in time, causing dripping from the spray disc. If the spray disc is adjusted first and the water pump is adjusted later, the actual atomized particle size of the sprayed liquid will be smaller than the set target atomized particle size. However, compared to the actual atomized particle size being smaller than the target atomized particle size, the dripping problem of the spray disc is more serious, which may cause malfunctions in the spraying device and / or the drone, affecting the drone's flight safety. Therefore, this embodiment proposes that the order of adjustment of the spray disc and water pump can be determined, so that the spray disc is adjusted to the desired spray disc speed and the water pump is adjusted to the desired water pump speed based on the order of adjustment, thus avoiding the dripping problem of the spray disc.

[0063] In one embodiment, the order of adjustment of the water pump and spray disc can be determined based on at least one of the following: changes in the speed of the drone, changes in the rotational speed of the water pump, and changes in the rotational speed of the spray disc. These changes can be considered as trends in the drone's speed, the water pump's rotational speed, and the spray disc's rotational speed, respectively; that is, if the drone's speed increases or decreases, the water pump's rotational speed increases or decreases, and the spray disc's rotational speed increases or decreases. Since an increase in drone speed corresponds to an increase in water pump rotational speed, and an increase in water pump rotational speed corresponds to an increase in spray disc rotational speed, and a decrease in drone speed corresponds to a decrease in water pump rotational speed, and a decrease in water pump rotational speed corresponds to a decrease in spray disc rotational speed, the trends in drone speed, water pump rotational speed, and spray disc rotational speed are all the same. Therefore, the order of adjustment of the water pump and spray disc can be determined based on any one or more of these trends.

[0064] Optionally, if at least one of the following conditions occurs—an increase in drone speed, an increase in water pump speed, and an increase in spray disc speed—the adjustment sequence for the water pump and spray disc is determined to be adjusting the spray disc first, followed by adjusting the water pump. It can be understood that an increase in drone speed, water pump speed, or spray disc speed indicates that the actual water pump speed of the drone is less than the desired water pump speed, and the actual spray disc speed of the drone is less than the desired spray disc speed. For example, Figure 3 This is one of the schematic diagrams illustrating the rotational speed change process of the spray disc and water pump provided in the embodiments of this application. For example... Figure 3As shown, assuming the actual water pump speed is 4600 rpm and the actual spray disc speed is 3300 rpm, the desired water pump speed is 6700 rpm and the desired spray disc speed is 4500 rpm. Ideally, when the water pump and spray disc are controlled synchronously, they will both reach speeds of 6700 rpm and 4500 rpm simultaneously. However, due to hardware and communication delays, synchronous adjustment of the water pump and spray disc is not possible. Therefore, it is necessary to consider adjusting either the spray disc speed first or the water pump speed first. If the water pump is adjusted first and the spray disc is adjusted later, the water pump and spray disc may experience [further issues]. Figure 3 In the first change process 14, the water pump speed will exceed the atomization range of the actual spray disc speed, resulting in some of the sprayed liquid not being atomized in time, causing dripping from the spray disc. Conversely, if the spray disc is adjusted first and the water pump is adjusted later, the water pump and spray disc may experience... Figure 3 In the second change process 15, the water pump speed will not exceed the atomization range of the actual spray disc speed, and the sprayed liquid will not be unable to atomize in time, thus avoiding the problem of water dripping from the spray disc.

[0065] In this embodiment, if the UAV is in the acceleration phase of its flight path or the actual flight speed of the UAV is greater than the flight speed of the previous moment, it is determined that the speed of the UAV has increased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the spray disc first and then adjusting the water pump; or, if it is desired that the water pump speed is greater than the actual water pump speed, it is determined that the water pump speed has increased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the spray disc first and then adjusting the water pump; or, if it is desired that the spray disc speed is greater than the actual spray disc speed, it is determined that the spray disc speed has increased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the spray disc first and then adjusting the water pump.

[0066] Optionally, if at least one of the following conditions occurs—a decrease in drone speed, a decrease in water pump speed, and a decrease in spray disc speed—the adjustment sequence for the water pump and spray disc is determined to be adjusting the water pump first, followed by adjusting the spray disc. It can be understood that a decrease in drone speed, a decrease in water pump speed, or a decrease in spray disc speed indicates that the actual water pump speed of the drone is greater than the desired water pump speed, and the actual spray disc speed of the drone is greater than the desired spray disc speed. For example, Figure 4 This is a second schematic diagram illustrating the speed change process of the spray disc and water pump provided in the embodiments of this application. For example... Figure 4 As shown, if the spray disc is adjusted first and the water pump is adjusted later, the water pump and spray disc may experience [problems / issues]. Figure 4 In the third change process 16, the water pump speed exceeds the atomization range of the actual spray disc speed, resulting in some of the sprayed liquid not being atomized in time, causing dripping from the spray disc. Conversely, if the water pump is adjusted first and the spray disc is adjusted later, the water pump and spray disc may experience... Figure 4 In the fourth change process 17, the water pump speed will not exceed the atomization range of the actual spray disc speed, and the sprayed liquid will not be unable to atomize in time, thus avoiding the problem of water dripping from the spray disc.

[0067] In this embodiment, if the UAV is in the deceleration phase of its flight path or the actual flight speed of the UAV is less than the flight speed of the previous moment, it is determined that the speed of the UAV has decreased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the water pump first and then adjusting the spray disc; or, if it is desired that the water pump speed is less than the actual water pump speed, it is determined that the water pump speed has decreased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the water pump first and then adjusting the spray disc; or, if it is desired that the spray disc speed is less than the actual spray disc speed, it is determined that the spray disc speed has decreased, and thus the order of adjustment of the water pump and the spray disc is determined to be adjusting the water pump first and then adjusting the spray disc.

[0068] This embodiment determines the order of adjustment of the water pump and the spray disc by at least one of the following: the speed change trend of the UAV, the rotational speed change trend of the water pump, and the rotational speed change trend of the spray disc. This avoids the water pump speed from exceeding the atomization range of the actual spray disc speed, thereby preventing water dripping from the spray disc and ensuring the flight safety of the UAV.

[0069] In another embodiment, by Figure 3 and Figure 4 The publicly available information indicates that the target atomization particle size affects the rotational speed changes of the water pump and spray disc. For some target atomization particle sizes, adjusting either the water pump or the spray disc speed first will not result in the water pump speed exceeding the atomization range of the actual spray disc speed. For these target atomization particle sizes, the adjustment sequence of the water pump and spray disc can be chosen to be synchronized. For other target atomization particle sizes, the adjustment sequence of the water pump and spray disc can be determined. Therefore, the adjustment sequence of the water pump and spray disc can be determined based on the target atomization particle size.

[0070] Optionally, when the target atomized particle size is the critical atomized particle size, the order of adjustment of the water pump and spray disc is determined. The critical atomized particle size is the maximum atomized particle size corresponding to any water pump speed, and / or, the maximum atomized particle size corresponding to any spray disc speed. As shown in Tables 1 and 2, when the water pump speed is 5200 rpm, its maximum atomized particle size is 500, meaning 500 can be considered the critical atomized particle size. When the spray disc speed is 2500 rpm, its maximum atomized particle size is 400, meaning 400 can be considered the critical atomized particle size. Of course, the content shown in Table 1 clearly indicates that the critical atomized particle size is the atomized particle size adjacent to the blank area in the lower right corner of the test relationship table. For example, Figure 5 This is the third schematic diagram illustrating the speed change process of the spray disc and water pump provided in the embodiments of this application. For example... Figure 5 As shown, box 20 marks the critical atomization particle size in the test relationship table. For the critical atomization particle size, if the water pump and spray disc are adjusted synchronously, it cannot be guaranteed that the water pump or spray disc will adjust first, which may lead to… Figure 5The fifth change process 18 (any change process corresponding to the horizontal arrow can be considered as the fifth change process 18) or the sixth change process 19 (any change process corresponding to the vertical arrow can be considered as the sixth change process 19) occurs. At this time, the water pump speed will exceed the atomization range of the actual spray disc speed, resulting in some of the sprayed liquid not being atomized in time, causing water dripping from the spray disc. To avoid this problem, when the target atomization particle size is the critical atomization particle size, the adjustment sequence of the water pump and spray disc is determined to be sequential.

[0071] In this embodiment, when the target atomized particle size is the critical atomized particle size, if at least one of the following occurs: an increase in the speed of the drone, an increase in the rotational speed of the water pump, and an increase in the rotational speed of the spray disc, the order of adjustment for the water pump and the spray disc is determined to be: adjust the spray disc first, then adjust the water pump. If at least one of the following occurs: a decrease in the speed of the drone, a decrease in the rotational speed of the water pump, and a decrease in the rotational speed of the spray disc, the order of adjustment for the water pump and the spray disc is determined to be: adjust the water pump first, then adjust the spray disc. (Reference) Figure 5 When the speed of the drone, the rotation speed of the water pump, or the rotation speed of the spray disc increases, the actual water pump rotation speed of the drone is less than the expected water pump rotation speed, and the actual spray disc rotation speed is less than the expected spray disc rotation speed. To avoid the sixth change process 19, the rotation speed of the spray disc can be adjusted first, followed by the rotation speed of the water pump. That is, the order of adjustment for the water pump and spray disc is to adjust the spray disc first, then the water pump. When the speed of the drone, the rotation speed of the water pump, or the rotation speed of the spray disc decreases, the actual water pump rotation speed of the drone is greater than the expected water pump rotation speed, and the actual spray disc rotation speed is greater than the expected spray disc rotation speed. To avoid the fifth change process 18, the rotation speed of the water pump can be adjusted first, followed by the rotation speed of the spray disc. That is, the order of adjustment for the water pump and spray disc is to adjust the water pump first, then the spray disc.

[0072] This embodiment determines the adjustment sequence of the water pump and spray disc as sequential when the target atomization particle size is at the critical atomization particle size, thereby preventing the water pump speed from exceeding the atomization range of the actual spray disc speed, thus avoiding water dripping from the spray disc and ensuring the flight safety of the UAV.

[0073] Optionally, when the target atomized particle size is non-critical, the adjustment sequence of the water pump and spray disc is determined to be synchronous adjustment. It can be understood that if the target atomized particle size is not non-critical, then it is far from the boundary of the test relationship table. Although factors such as hardware or communication delays may prevent the spray disc and water pump from changing synchronously, the start times of their adjustments will not differ significantly. Therefore, regardless of whether the spray disc or the water pump is adjusted first, the water pump speed will not exceed the atomization range of the actual spray disc speed. In this case, to improve speed adjustment efficiency and ensure effective spraying, the adjustment sequence of the water pump and spray disc can be determined to be synchronous adjustment. For example, Figure 6This is the fourth schematic diagram illustrating the speed change process of the spray disc and water pump provided in the embodiments of this application. Figure 6 As shown, assuming the target atomized particle size is 400, the actual water pump speed is 4600 rpm and the actual spray disc speed is 3300 rpm, and the desired water pump speed is 6700 rpm and the desired spray disc speed is 4500 rpm. When simultaneously adjusting the water pump speed and spray disc speed, if the water pump is adjusted first and the spray disc is adjusted later, then the water pump and spray disc may exhibit a seventh change process 21; if the spray disc is adjusted first and the water pump is adjusted later, then the water pump and spray disc may exhibit an eighth change process 22. Regardless of whether it is the seventh change process 21 or the eighth change process 22, the water pump speed will not exceed the atomization range of the actual spray disc speed. It should be noted that... Figure 6 The seventh change process 21 and the eighth change process 22 are shown as step-like change processes, but the actual process is not necessarily as step-like. The step-like change process is only an example for reference. The actual process is based on the response speed of the water pump and the spray plate.

[0074] Of course, it cannot be ruled out that in certain models or scenarios, the adjustment responses of the spray disc motor and the water pump motor may differ significantly. Even if the target atomization particle size is non-critical, issues such as… may still occur. Figure 4 and Figure 3 The example illustrates a situation where the water pump speed exceeds the atomization range of the actual spray disc speed, leading to dripping from the spray disc. To avoid this dripping issue, when the target atomization particle size is non-critical, the adjustment sequence of the water pump and spray disc is determined based on the actual water pump speed, the actual spray disc speed, and the desired water pump speed and the desired spray disc speed of the UAV.

[0075] For example, when the target atomized particle size is non-critical, the speed change process of the spray disc after adjusting the water pump and the speed change process of the water pump after adjusting the spray disc can be inferred based on the actual water pump speed, actual spray disc speed, desired water pump speed, and desired spray disc speed of the UAV. This allows for the determination of the speed change process within the atomizable range where the water pump speed does not exceed the actual spray disc speed. The adjustment sequence corresponding to this speed change process is then determined as the adjustment sequence for the water pump and spray disc. (Reference) Figure 4 Assuming the actual water pump speed is 4600 and the actual spray disc speed is 3300, and the desired water pump speed is 6700 and the desired spray disc speed is 4500, the speed change process of adjusting the spray disc first and then the water pump is the third change process 16, and the speed change process of adjusting the spray disc first and then the spray disc is the fourth change process 17. In the fourth change process 16, the water pump speed will not exceed the atomization range of the actual spray disc speed. Therefore, the adjustment order of the water pump and the spray disc is determined to be that the water pump is adjusted first and then the spray disc is adjusted.

[0076] Of course, there are also cases where neither adjustment method results in the water pump speed exceeding the atomization range of the actual spray disc speed during the speed change process. In this case, regardless of the difference in response speed between the water pump and the spray disc, whether the water pump is adjusted first or the spray disc is adjusted first, the water pump speed will not exceed the atomization range of the actual spray disc speed. Therefore, it can be determined that the adjustment sequence of the water pump and the spray disc is synchronous adjustment. Figure 7 This is the fifth schematic diagram illustrating the speed change process of the spray disc and water pump provided in the embodiments of this application. Figure 7 As shown, assuming the actual water pump speed is 4600 rpm and the actual spray disc speed is 4500 rpm, the desired water pump speed is 2200 rpm and the desired spray disc speed is 3800 rpm. The speed change process of adjusting the spray disc speed before adjusting the water pump speed is the ninth change process 23, and the speed change process of adjusting the water pump speed before adjusting the spray disc speed is the tenth change process 24. In the ninth change process 23 and the tenth change process 24, the water pump speed will not exceed the atomization range of the actual spray disc speed. Therefore, the adjustment sequence of the water pump and the spray disc is determined to be synchronous adjustment.

[0077] Optionally, a first range of atomized particle size variation under the actual spray disc speed can be determined based on the actual water pump speed and the desired water pump speed; a second range of atomized particle size variation under the actual water pump speed can be determined based on the actual spray disc speed and the desired spray disc speed; and the adjustment sequence of the water pump and spray disc can be determined based on the first and second ranges of variation.

[0078] The first variation range can be understood as the range of change in the atomized particle size of the spray disk liquid when the spray disk rotates at its actual rotational speed and the water pump is adjusted from its actual rotational speed to the desired rotational speed. Therefore, the first variation range characterizes the change in atomized particle size when the water pump is adjusted first while the spray disk remains at its actual rotational speed. The upper or lower limit of the first variation range can be determined based on the actual water pump speed and the actual spray disk speed, and the lower or upper limit can be determined based on the desired water pump speed and the actual spray disk speed.

[0079] Similarly, the second variation range can be understood as the range of change in the atomized particle size of the sprayed liquid when the water pump rotates at its actual speed and the spray disc is adjusted from its actual speed to the desired speed. The upper or lower limit of the first variation range can be determined based on the actual water pump speed and the actual spray disc speed, and the lower or upper limit of the first variation range can be determined based on the actual water pump speed and the desired spray disc speed. Therefore, the second variation range can characterize the change in atomized particle size when the spray disc is adjusted while the water pump remains at its actual speed.

[0080] If either the first or second variation range exceeds the critical atomization particle size, it indicates that the spray disc rotation speed cannot atomize the sprayed liquid into a particle size exceeding the critical atomization particle size within the first or second variation range. This confirms that the water pump rotation speed exceeds the atomization range of the actual spray disc rotation speed. Therefore, the adjustment sequence of the water pump and spray disc can be determined based on the first and second variation ranges and the critical atomization particle size. This embodiment determines the first and second variation ranges using the actual water pump rotation speed, the actual spray disc rotation speed, the desired water pump rotation speed, and the desired spray disc rotation speed. The adjustment sequence of the spray disc and water pump is then determined based on these ranges to avoid spray disc dripping and ensure the flight safety of the UAV.

[0081] In this embodiment, if the first variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and spray disc is determined to be adjusting the spray disc first and then the water pump; if the second variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and spray disc is determined to be adjusting the spray disc first and then the water pump; if neither the first nor the second variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and spray disc is determined to be simultaneous adjustment. Wherein, at least one of the first and second variation ranges will not exceed the critical atomized particle size.

[0082] For example, when the first variation range exceeds the critical atomization particle size, the second variation range will not exceed the critical atomization particle size. This indicates that when the water pump is adjusted first, if the spray disc is kept rotating at the actual spray disc speed, it will be impossible to atomize the sprayed liquid into atomized particles that exceed the critical atomization particle size in the first variation range. However, when the spray disc is adjusted first, if the water pump is kept rotating at the actual water pump speed, it will not be impossible to atomize the sprayed liquid into atomized particles that are within the second variation range. Therefore, it can be determined that the adjustment order between the spray disc and the water pump is to adjust the spray disc first and then adjust the water pump.

[0083] When the second variation range exceeds the critical atomization particle size, but the first variation range does not, it indicates that if the spray disc is adjusted first, and the water pump is kept rotating at its actual speed, the sprayed liquid may not be able to atomize to the particle size exceeding the critical atomization particle size within the second variation range. However, if the water pump is adjusted first, and the spray disc is kept rotating at its actual speed, the sprayed liquid will not be unable to atomize to the particle size within the first variation range. Therefore, the adjustment order between the spray disc and the water pump can be determined as adjusting the water pump first, then adjusting the spray disc. When neither the second nor the first variation range exceeds the critical atomization particle size, it indicates that adjusting either the spray disc first or the water pump first will not result in the sprayed liquid being unable to atomize to the particle size within the first and second variation ranges. In this case, the adjustment order of the water pump and the spray disc can be determined as simultaneous adjustment.

[0084] This embodiment compares the first and second variation ranges with the critical atomization particle size to determine the adjustment sequence in which the problem of liquid not being able to be sprayed or atomized will not occur. This determines the adjustment sequence of the water pump and spray disc, avoids water dripping from the spray disc, and improves the flight safety of the drone.

[0085] S150, Based on the adjustment sequence, adjust the water pump speed to the desired water pump speed, and adjust the spray disc speed to the desired spray disc speed.

[0086] For example, when the water pump and spray disc are adjusted in a sequential order, the water pump or spray disc can be adjusted first, followed by the spray disc or water pump, according to the order of adjustment.

[0087] For example, in a scenario where the water pump and spray disc are adjusted sequentially, with the water pump adjusted first and then the spray disc, the drone first sends a drive signal to the water pump motor. Upon receiving the drive signal, the water pump motor begins adjusting its speed. Then, the drone sends a drive signal to the spray disc motor, causing it to adjust its speed as well. Optionally, the drone can send a drive signal to the water pump motor after a first preset time interval. This first preset time interval can be the maximum time required for the water pump motor to receive and respond to the drive signal. In other words, after the drone sends the drive signal to the water pump, the water pump motor has already begun adjusting its speed after the first preset time interval. At this point, the drone can send a drive signal to the spray disc motor to drive the spray disc to adjust its speed, thus achieving the effect of adjusting the water pump speed first and then the spray disc speed. Alternatively, after sending a drive signal to the water pump motor, the drone can detect the water pump's rotation speed. If a change in the water pump's rotation speed is detected, it can determine that the water pump motor has started to adjust the water pump's rotation speed. Then, it can send a drive signal to the spray disc motor to drive the spray disc to adjust its rotation speed, thus achieving the effect of adjusting the water pump's rotation speed first and then adjusting the spray disc's rotation speed later.

[0088] When the adjustment sequence of the water pump and spray disc is to adjust the spray disc first and then the water pump, the drone first sends a drive signal to the spray disc motor, causing the spray disc motor to start adjusting the spray disc speed upon receiving the drive signal. Then, the drone sends a drive signal to the water pump motor, causing the water pump motor to start adjusting the water pump speed upon receiving the drive signal. Optionally, the drone can send a drive signal to the spray disc motor after a second preset time interval. The first preset time interval can be the maximum time required for the spray disc motor to receive and respond to the drive signal. That is, after the drone sends the drive signal to the spray disc, the spray disc motor has already started adjusting the spray disc speed after the second preset time interval. At this time, the drone can send a drive signal to the water pump motor to drive the water pump to adjust its speed, thus achieving the effect of adjusting the spray disc speed first and then the water pump speed. Alternatively, the drone can detect the spray disc speed after sending the drive signal to the spray disc motor. If a change in the spray disc speed is detected, it can determine that the spray disc motor has started adjusting the spray disc speed, and then send a drive signal to the water pump motor to drive the water pump to adjust its speed, thus achieving the effect of adjusting the spray disc speed first and then the water pump speed.

[0089] It should be noted that components whose speed is adjusted first may reach the desired speed later than those adjusted later due to factors such as power limitations, hardware issues, or malfunctions. For example, if the spray disc and water pump are adjusted in the order of spray disc first and then water pump, although the spray disc is started and its speed is adjusted first, due to power limitations, hardware limitations, or malfunctions, its speed may not reach the desired speed as quickly. Instead, the water pump, which is adjusted later, will reach the desired speed first. (Reference) Figure 3 Assuming the actual water pump speed is 4600 rpm and the actual spray disc speed is 3300 rpm, the desired water pump speed is 6700 rpm and the desired spray disc speed is 4500 rpm. If the current adjustment sequence for the spray disc and water pump is to adjust the spray disc first and then the water pump, the spray disc speed can be gradually increased from 3000 rpm to 4500 rpm. However, if the spray disc's speed increase is slower than the water pump's due to power limitations, the water pump speed may have increased from 4600 rpm to 6700 rpm while the spray disc's speed increases from 3000 rpm to 3800 rpm. At this point, the water pump speed will exceed the atomization range of the actual spray disc speed, causing some sprayed liquid to not be atomized in time, resulting in dripping from the spray disc. Therefore, this embodiment proposes that when the adjustment sequence for the spray disc and water pump is sequential, the spray disc or water pump whose speed is adjusted first can be adjusted to the corresponding desired speed before the water pump or spray disc whose speed is adjusted later is adjusted to the corresponding desired speed.

[0090] Specifically, when the adjustment sequence is to adjust the water pump first and then the spray disc, adjust the water pump speed to the desired speed, and then adjust the spray disc speed to the desired speed. (Reference) Figure 4Assuming the actual water pump speed is 6700 rpm and the desired speed is 4600 rpm, and the actual spray disc speed is 4500 rpm and the desired speed is 3300 rpm, the drone can control the water pump motor to reduce the water pump speed from 6700 rpm to 4600 rpm, and then control the spray disc motor to reduce the spray disc speed from 4500 rpm to 3300 rpm. In other words, the speed changes of the spray disc and motor are similar to... Figure 4 In the fourth change process 17, the water pump speed will not exceed the atomization range of the actual spray disc speed, thus avoiding water dripping from the spray disc.

[0091] Optionally, if the target atomized particle size is the critical atomized particle size, and the adjustment sequence is to adjust the water pump first and then the spray disc, then adjust the water pump speed to the desired water pump speed, and then adjust the spray disc speed to the desired spray disc speed. (Reference) Figure 5 When the target atomized particle size is at the critical atomized particle size, the speed changes of the water pump and spray disc are more likely to enter the blank areas on the right and / or bottom of the test relationship table. This means the water pump speed exceeds the atomization range of the actual spray disc speed, leading to dripping from the spray disc. Therefore, the water pump speed should be adjusted to the desired speed first, and then the spray disc speed should be adjusted to the desired speed. This prevents the speed changes of the water pump and spray disc from entering the blank areas on the right and / or bottom of the test relationship table, thus avoiding the water pump speed exceeding the atomization range of the actual spray disc speed and preventing dripping from the spray disc. Conversely, when the target atomized particle size is at a non-critical atomized particle size, the speed changes of the water pump and spray disc are less likely to enter the blank areas on the right and / or bottom of the test relationship table. Therefore, it is not necessary to wait for the water pump speed to be adjusted to the desired speed before adjusting the spray disc speed, thus improving speed adjustment efficiency.

[0092] Optionally, the specific process of adjusting the water pump speed to the desired speed and then adjusting the spray disc speed to the desired speed is as follows: A first control command is sent to the water pump motor according to the desired water pump speed, and the water pump motor adjusts its speed based on the first control command; once the water pump speed reaches the desired speed, a second control command is sent to the spray disc motor according to the desired spray disc speed, and the spray disc motor adjusts its speed to the desired speed based on the second control command. The first control command is a drive signal used to drive the water pump motor to adjust the water pump speed to the desired speed. The second control command is a drive signal used to drive the spray disc motor to adjust the spray disc speed to the desired speed. For example, Figure 8 This is a schematic diagram of the control framework for the spray disc and water pump provided in an embodiment of this application. Figure 8As shown, the UAV's control system generates a first control command and a second control command based on the desired water pump speed and the desired spray disc speed, respectively. The first control command is sent to the water pump motor, which adjusts the water pump speed in response. Subsequently, the UAV monitors the water pump speed in real time. When the water pump speed reaches the desired speed, the UAV sends the second control command to the spray disc motor, which adjusts the spray disc speed to the desired speed. This embodiment achieves orderly control of the water pump and spray disc by first sending a first control command to the water pump motor to drive the water pump to adjust its speed, and then sending a second control command to the spray disc to drive it to adjust its speed after reaching the desired speed. This prevents the water pump speed from exceeding the atomization range of the actual spray disc speed, thus avoiding water dripping from the spray disc.

[0093] When adjusting the spray disc first and then the water pump, adjust the spray disc speed to the desired speed, and then adjust the water pump speed to the desired speed. (Reference) Figure 3 Assuming the actual water pump speed is 4600 RPM and the actual spray disc speed is 3300 RPM, the desired water pump speed is 6700 RPM and the desired spray disc speed is 4500 RPM. The drone can control the spray disc to accelerate from 3300 RPM to 4500 RPM first, and then control the water pump to accelerate from 4600 RPM to 6700 RPM. In other words, the speed changes of the spray disc and motor are similar to... Figure 3 In the second change process 15, the water pump speed will not exceed the atomization range of the actual spray disc speed, thus avoiding water dripping from the spray disc.

[0094] Optionally, if the target atomized particle size is the critical atomized particle size, and the adjustment sequence is to adjust the spray disc first and then the water pump, then adjust the speed of the spray disc to the desired spray disc speed, and then adjust the speed of the water pump to the desired water pump speed.

[0095] Optionally, the specific process of adjusting the water pump speed to the desired speed, and then adjusting the spray disc speed to the desired speed, is as follows: A second control command is sent to the spray disc motor based on the desired spray disc speed, and the spray disc motor adjusts the spray disc speed based on the second control command; once the spray disc speed reaches the desired speed, a first control command is sent to the water pump motor based on the desired water pump speed, and the water pump motor adjusts the water pump speed to the desired speed based on the first control command. (Reference) Figure 8The UAV's control system generates a first control command and a second control command based on the desired water pump speed and the desired spray disc speed, respectively. The second control command is sent to the spray disc motor, which adjusts the spray disc speed in response. Subsequently, the UAV monitors the spray disc speed in real time. When the spray disc speed reaches the desired speed, the UAV sends the first control command to the water pump motor, which then adjusts the water pump speed to the desired speed. This embodiment achieves orderly control of the water pump and spray disc by first sending the second control command to the spray disc motor to drive the spray disc to adjust its speed, and then sending the first control command to the water pump when the spray disc speed reaches the desired speed to drive the water pump to adjust its speed. This prevents the water pump speed from exceeding the atomization range of the actual spray disc speed, thus avoiding water dripping from the spray disc.

[0096] Furthermore, when the water pump and spray disc are adjusted synchronously, their rotational speeds can be adjusted simultaneously. It should be noted that synchronous adjustment simply means the drone sends corresponding drive signals to the water pump motor and spray disc motor simultaneously or sequentially, not that the water pump and spray disc begin adjusting their speeds simultaneously or adjust to the desired speeds simultaneously. Which one adjusts its speed first depends on the actual communication link and response speed, and which one adjusts to the desired speed first depends on the actual response speed and adjustment speed.

[0097] Optionally, when the adjustment sequence is to simultaneously adjust the water pump and spray disc, a first control command and a second control command are simultaneously sent to the water pump motor and the spray disc motor, respectively. The water pump motor adjusts its speed to the desired speed based on the first control command, and the spray disc motor adjusts its speed to the desired speed based on the second control command. (Reference) Figure 8 The UAV's control system can generate a first control command and a second control command based on the desired water pump speed and the desired spray disc speed, respectively. These commands are then simultaneously sent to the water pump motor and the spray disc motor, respectively. The water pump motor responds to the first control command by adjusting the water pump speed to the desired speed, and the spray disc motor responds to the second control command by adjusting the spray disc speed to the desired speed. This embodiment achieves synchronized control of the water pump and spray disc by synchronously sending the first and second control commands to the water pump motor and the spray disc motor, thereby improving the speed regulation efficiency of the water pump and spray disc.

[0098] In summary, the drone spraying method provided in this application obtains the actual flight speed of the drone during the spraying operation, determines the desired water pump speed based on the actual flight speed, and determines the desired spray disc speed based on the desired water pump speed. The adjustment sequence between the water pump and the spray disc is determined, and the water pump speed and the spray disc speed are adjusted to the desired speed according to this sequence. Through these technical means, the desired water pump speed can be obtained by determining the water pump speed that matches the drone's actual flight speed during the spraying operation, ensuring that the spray volume is the same at all locations in the work area. The desired spray disc speed is obtained by determining the spray disc speed that matches the water pump speed, ensuring that the atomized particle size of the sprayed liquid remains within a reasonable range, avoiding situations where the sprayed liquid has excessively fine or non-atomized particles. This solves the problem of excessively fine or non-atomized particles in related technologies and improves the spraying effect of the drone. By determining the adjustment sequence of the water pump and spray disc, the spray disc and water pump can be adjusted to the corresponding desired speed in an orderly manner according to the adjustment sequence, avoiding water dripping from the spray disc during the adjustment process and ensuring the operational safety of the drone.

[0099] Based on the above embodiments, Figure 9 This is a schematic diagram of a spraying device for a drone provided in an embodiment of this application. (Reference) Figure 9 The spraying device for unmanned aerial vehicles provided in this embodiment specifically includes: a flight speed acquisition module 31, a first rotation speed determination module 32, a second rotation speed determination module 33, an adjustment sequence determination module 34, and a rotation speed adjustment module 35.

[0100] Among them, the flight speed acquisition module 31 is configured to acquire the actual flight speed of the UAV during the spraying operation;

[0101] The first rotation speed determination module 32 is configured to determine the desired water pump rotation speed based on the actual flight speed of the UAV.

[0102] The second speed determination module 33 is configured to determine the desired spray disc speed based on the desired water pump speed.

[0103] The adjustment sequence determination module 34 is configured to determine the adjustment sequence of the water pump and the spray disc;

[0104] The speed adjustment module 35 is configured to adjust the speed of the water pump to the desired water pump speed and the speed of the spray disc to the desired spray disc speed based on the adjustment sequence.

[0105] Based on the above embodiments, the adjustment sequence determination module 34 includes: a first sequence determination submodule, configured to determine the order of adjustment of the water pump and the spray disc based on at least one of the speed change of the UAV, the rotation speed change of the water pump, and the rotation speed change of the spray disc.

[0106] Based on the above embodiments, the first sequence determination submodule includes: a first sequence determination unit configured to determine, under at least one of the following conditions—an increase in the speed of the drone, an increase in the rotational speed of the water pump, and an increase in the rotational speed of the spray disc—that the order of adjustment of the water pump and the spray disc is to adjust the spray disc first and then adjust the water pump; and / or, a second sequence determination unit configured to determine, under at least one of the following conditions—a decrease in the speed of the drone, a decrease in the rotational speed of the water pump, and a decrease in the rotational speed of the spray disc—that the order of adjustment of the water pump and the spray disc is to adjust the water pump first and then adjust the spray disc.

[0107] Based on the above embodiments, the adjustment sequence determination module 34 includes: a second sequence determination submodule, configured to determine the order of adjustment of the water pump and the spray disc when the target atomization particle size is the critical atomization particle size.

[0108] Based on the above embodiments, the adjustment sequence determination module 34 includes: a third sequence determination submodule, configured to determine that the adjustment sequence of the water pump and the spray disc is synchronous adjustment when the target atomization particle size is a non-critical atomization particle size.

[0109] Based on the above embodiments, the adjustment sequence determination module 34 includes: a fourth sequence determination submodule, configured to determine the adjustment sequence of the water pump and the spray disc based on the actual water pump speed and the actual spray disc speed of the UAV, as well as the desired water pump speed and the desired spray disc speed, when the target atomization particle size is a non-critical atomization particle size.

[0110] Based on the above embodiments, the speed adjustment module 35 includes: a first adjustment submodule, configured to adjust the speed of the water pump to the desired water pump speed and then adjust the speed of the spray disc to the desired spray disc speed when the adjustment sequence is to adjust the water pump first and then adjust the spray disc speed; and / or, a second adjustment submodule, configured to adjust the speed of the spray disc to the desired spray disc speed and then adjust the speed of the water pump to the desired water pump speed when the adjustment sequence is to adjust the spray disc first and then adjust the water pump speed.

[0111] Based on the above embodiments, the first adjustment submodule includes: a first control unit configured to send a first control command to the water pump motor according to the desired water pump speed, and the water pump motor adjusts the water pump speed based on the first control command; and a second control unit configured to send a second control command to the spray disc motor according to the desired spray disc speed when the water pump speed reaches the desired water pump speed, and the spray disc motor adjusts the speed of the adjustment spray disc to the desired spray disc speed based on the second control command.

[0112] Based on the above embodiments, the second adjustment submodule includes: a third control unit configured to send a second control command to the spray disc motor according to the desired spray disc speed, and the spray disc motor adjusts the speed of the spray disc based on the second control command; and a fourth control unit configured to send a first control command to the water pump motor according to the desired water pump speed when the speed of the spray disc reaches the desired spray disc speed, and the water pump motor adjusts the speed of the adjustment water pump to the desired water pump speed based on the first control command.

[0113] Based on the above embodiments, the speed adjustment module 35 includes: a third adjustment submodule, configured to simultaneously send a first control command and a second control command to the water pump motor and the spray disc motor respectively when the adjustment sequence is to simultaneously adjust the water pump and the spray disc motor, so that the water pump motor adjusts the speed of the water pump to the desired water pump speed based on the first control command, and the spray disc motor adjusts the speed of the spray disc to the desired spray disc speed based on the second control command.

[0114] Based on the above embodiments, the fourth sequence determination submodule includes: a first range determination unit configured to determine a first range of atomized particle size variation under the actual spray disc speed based on the actual water pump speed and the desired water pump speed; a second range determination unit configured to determine a second range of atomized particle size variation under the actual water pump speed based on the actual spray disc speed and the desired spray disc speed; and an adjustment sequence determination unit configured to determine the adjustment sequence of the water pump and the spray disc based on the first and second ranges of variation.

[0115] Based on the above embodiments, the adjustment sequence determination unit includes: a first sequence determination subunit, configured to determine that the adjustment sequence of the water pump and the spray disc is to adjust the spray disc first and then the water pump when the first variation range exceeds the critical atomization particle size; a second sequence determination subunit, configured to determine that the adjustment sequence of the water pump and the spray disc is to adjust the spray disc first and then the water pump when the second variation range exceeds the critical atomization particle size; and a third sequence determination subunit, configured to determine that the adjustment sequence of the water pump and the spray disc is to be adjusted synchronously when the first variation range and the second variation range do not exceed the critical atomization particle size.

[0116] Based on the above embodiments, the first rotation speed determination module includes: a first rotation speed determination submodule, configured to determine the desired water pump rotation speed corresponding to the actual flight speed based on a preset unit area spray volume.

[0117] Based on the above embodiments, the second rotation speed determination module includes: a second rotation speed determination submodule, configured to determine the desired spray disc rotation speed corresponding to the desired water pump rotation speed based on the target atomized particle size.

[0118] Based on the above embodiments, the second rotation speed determination submodule includes: a relation table acquisition unit, configured to acquire a preset test relation table, the test relation table including the mapping relationship between water pump rotation speed, spray disc rotation speed and atomized particle size; and a desired rotation speed determination unit, configured to determine the desired spray disc rotation speed according to the test relation table, the desired water pump rotation speed and the target atomized particle size.

[0119] The spraying device for unmanned aerial vehicles (UAVs) provided in this application embodiment obtains the actual flight speed of the UAV during spraying operations, determines the desired water pump speed based on the actual flight speed, and determines the desired spray disc speed based on the desired water pump speed. The adjustment sequence between the water pump and the spray disc is determined, and the water pump speed and the spray disc speed are adjusted to the desired speed according to this sequence. Through these technical means, the desired water pump speed can be obtained by determining the water pump speed that matches the actual flight speed of the UAV during spraying operations, ensuring that the spray volume is the same at all locations in the work area. The desired spray disc speed is obtained by determining the spray disc speed that matches the water pump speed, ensuring that the atomized particle size of the sprayed liquid remains within a reasonable range, avoiding situations where the sprayed liquid has excessively fine or non-atomized particles. This solves the problem of excessively fine or non-atomized particles in related technologies and improves the spraying effect of the UAV. By determining the adjustment sequence of the water pump and spray disc, the spray disc and water pump can be adjusted to the corresponding desired speed in an orderly manner according to the adjustment sequence, avoiding water dripping from the spray disc during the adjustment process and ensuring the operational safety of the drone.

[0120] The spraying device for drones provided in this application embodiment can be used to perform the spraying operation method for drones provided in the above embodiment, and has corresponding functions and beneficial effects.

[0121] Figure 10 This is a schematic diagram of the structure of a drone provided in an embodiment of this application, with reference to... Figure 10 The drone includes a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 and the number of memories 42 in the spraying equipment of the drone can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the spraying equipment of the drone can be connected via a bus or other means.

[0122] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the spraying operation method of the UAV in any embodiment of this application (e.g., the flight speed acquisition module 31, the first rotation speed determination module 32, the second rotation speed determination module 33, the adjustment sequence determination module 34, and the rotation speed adjustment module 35 in the UAV spraying operation device). The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0123] The communication device 43 is used for data transmission.

[0124] The processor 41 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 42, thereby realizing the above-mentioned spraying operation method of the drone.

[0125] Input device 44 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 45 may include display devices such as a display screen.

[0126] The drones provided above can be used to perform the spraying operation methods of the drones provided in the above embodiments, and have corresponding functions and beneficial effects.

[0127] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a spraying operation method for a drone. The spraying operation method for the drone includes: acquiring the actual flight speed of the drone during the spraying operation; determining the desired water pump speed based on the actual flight speed; determining the desired spray disc speed based on the desired water pump speed; determining the adjustment sequence of the water pump and the spray disc; adjusting the water pump speed to the desired water pump speed and adjusting the spray disc speed to the desired spray disc speed based on the adjustment sequence.

[0128] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0129] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned drone spraying operation method, but can also perform related operations in the drone spraying operation method provided in any embodiment of this application.

[0130] The spraying device, storage medium, and drone provided in the above embodiments can execute the spraying method of the drone provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the spraying method of the drone provided in any embodiment of this application.

[0131] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A spraying operation method using a drone, characterized in that, The drone is equipped with a spraying device, which includes a water pump and a spray disc. The method includes: Obtain the actual flight speed of the drone during the spraying operation; The desired water pump speed is determined based on the actual flight speed. Determine the desired spray disc rotation speed based on the desired water pump rotation speed; Determine the adjustment sequence of the water pump and the spray disc; Based on the adjustment sequence, the rotation speed of the water pump is adjusted to the desired water pump speed, and the rotation speed of the spray disc is adjusted to the desired spray disc speed.

2. The spraying operation method for a drone according to claim 1, wherein determining the adjustment sequence of the water pump and the spray disc includes: The order in which the water pump and the spray disc are adjusted is determined based on at least one of the following: the speed change of the drone, the rotational speed change of the water pump, and the rotational speed change of the spray disc.

3. The spraying operation method of the UAV according to claim 2, characterized in that, Determining the order of adjustment of the water pump and the spray disc based on at least one of the following: the speed change of the drone, the rotational speed change of the water pump, and the rotational speed change of the spray disc, includes: If at least one of the following conditions is met—an increase in the speed of the drone, an increase in the rotational speed of the water pump, and an increase in the rotational speed of the spray disc—the order of adjustment for the water pump and the spray disc is determined to be: adjust the spray disc first, then adjust the water pump; and / or, If at least one of the following occurs: the speed of the drone decreases, the rotational speed of the water pump decreases, and the rotational speed of the spray disc decreases, the order of adjustment for the water pump and the spray disc is determined to be: adjust the water pump first, then adjust the spray disc.

4. The spraying operation method for a drone according to claim 1, wherein determining the adjustment sequence of the water pump and the spray disc includes: When the target atomized particle size is the critical atomized particle size, determine the order in which the water pump and the spray disc are adjusted.

5. The spraying operation method for a drone according to claim 1, wherein determining the adjustment sequence of the water pump and the spray disc includes: When the target atomized particle size is non-critical, the adjustment sequence of the water pump and the spray disc is determined to be synchronous adjustment.

6. The spraying operation method for a drone according to claim 1, wherein determining the adjustment sequence of the water pump and the spray disc includes: When the target atomized particle size is non-critical, the adjustment sequence of the water pump and the spray disc is determined based on the actual water pump speed and actual spray disc speed of the UAV, as well as the desired water pump speed and desired spray disc speed.

7. The spraying operation method of the UAV according to claim 1, characterized in that, The step of adjusting the speed of the water pump to the desired water pump speed and adjusting the speed of the spray disc to the desired spray disc speed based on the adjustment sequence includes: When the adjustment sequence is to adjust the water pump first and then the spray disc, after adjusting the water pump speed to the desired water pump speed, the spray disc speed is then adjusted to the desired spray disc speed; and / or, When the adjustment sequence is to adjust the spray disc first and then the water pump, the rotation speed of the spray disc is adjusted to the desired spray disc rotation speed, and then the rotation speed of the water pump is adjusted to the desired water pump rotation speed.

8. The spraying operation method of the UAV according to claim 7, characterized in that, The step of adjusting the speed of the water pump to the desired water pump speed, and then adjusting the speed of the spray disc to the desired spray disc speed, includes: A first control command is sent to the water pump motor according to the desired water pump speed, and the water pump motor adjusts the water pump speed based on the first control command; When the water pump reaches the desired water pump speed, a second control command is sent to the spray disc motor according to the desired spray disc speed. The spray disc motor then adjusts the speed of the spray disc to the desired spray disc speed based on the second control command.

9. The spraying operation method of the UAV according to claim 7, characterized in that, The step of adjusting the rotation speed of the spray disc to the desired spray disc rotation speed, and then adjusting the rotation speed of the water pump to the desired water pump rotation speed, includes: A second control command is sent to the spray disc motor according to the desired spray disc rotation speed, and the spray disc motor adjusts the rotation speed of the spray disc based on the second control command; When the rotational speed of the spray disc reaches the desired spray disc rotational speed, a first control command is sent to the water pump motor according to the desired water pump rotational speed, and the water pump motor adjusts the rotational speed of the water pump to the desired water pump rotational speed based on the first control command.

10. The spraying operation method of the UAV according to claim 1, characterized in that, The step of adjusting the speed of the water pump to the desired water pump speed and adjusting the speed of the spray disc to the desired spray disc speed based on the adjustment sequence includes: When the adjustment sequence is to adjust the water pump and the spray disc synchronously, a first control command and a second control command are sent synchronously to the water pump motor and the spray disc motor respectively. The water pump motor adjusts the speed of the water pump to the desired water pump speed based on the first control command, and the spray disc motor adjusts the speed of the spray disc to the desired spray disc speed based on the second control command.

11. The spraying operation method of the UAV according to claim 6, characterized in that, The step of determining the adjustment sequence of the water pump and the spray disc based on the actual water pump speed and the actual spray disc speed of the UAV, as well as the desired water pump speed and the desired spray disc speed, includes: Based on the actual water pump speed and the desired water pump speed, determine the first range of variation of atomized particle size at the actual spray disc speed; Based on the actual spray disc rotation speed and the desired spray disc rotation speed, determine the second variation range of atomized particle size at the actual water pump rotation speed; The adjustment sequence of the water pump and the spray disc is determined based on the first range of variation and the second range of variation.

12. The spraying operation method of the UAV according to claim 11, characterized in that, Determining the adjustment sequence of the water pump and the spray disc based on the first variation range and the second variation range includes: If the first variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and the spray disc is determined to be to adjust the spray disc first and then adjust the water pump. If the second variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and the spray disc is determined to be to adjust the spray disc first and then adjust the water pump. If neither the first variation range nor the second variation range exceeds the critical atomized particle size, the adjustment sequence of the water pump and the spray disc is determined to be synchronous adjustment.

13. The spraying operation method of the UAV according to claim 1, characterized in that, Determining the desired water pump speed based on the actual flight speed includes: Based on the preset spray volume per unit area, the desired water pump speed corresponding to the actual flight speed is determined.

14. The spraying operation method of the UAV according to claim 1, characterized in that, Determining the desired spray disc rotation speed based on the desired water pump rotation speed includes: Based on the target atomized particle size, determine the desired spray disc speed corresponding to the desired water pump speed.

15. The spraying operation method of the UAV according to claim 14, characterized in that, The step of determining the desired spray disc rotation speed corresponding to the desired water pump rotation speed based on the target atomized particle size includes: Obtain a preset test relationship table, which includes the mapping relationship between water pump speed, spray disc speed and atomized particle size; The desired spray disc speed is determined based on the test relationship table, the desired water pump speed, and the target atomized particle size.

16. A spraying device for unmanned aerial vehicles (UAVs), characterized in that, The drone is equipped with a spraying device, which includes a water pump and a spray disc. The device comprises: The flight speed acquisition module is configured to acquire the actual flight speed of the UAV during the spraying operation; The first rotation speed determination module is configured to determine the desired water pump rotation speed based on the actual flight speed of the UAV. The second rotation speed determination module is configured to determine the desired spray disc rotation speed based on the desired water pump rotation speed. The adjustment sequence determination module is configured to determine the adjustment sequence of the water pump and the spray disc; The speed adjustment module is configured to adjust the speed of the water pump to the desired water pump speed and the speed of the spray disc to the desired spray disc speed based on the adjustment sequence.

17. A spraying operation device for unmanned aerial vehicles (UAVs), characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the spraying operation method of the UAV as described in any one of claims 1-15.

18. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the spraying operation method of the drone as described in any one of claims 1-15.

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