The invention relates to a liquid supplementing method and related device for a pesticide spraying unmanned aerial vehicle capable of self-adapting to the wind direction, and the method comprises the following steps: obtaining a real-time image, building an anchor point based on a balloon in the image, judging the distance between the anchor point and the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a preset distance between the unmanned aerial vehicle and the anchor point, a liquid storage tank is hung on the balloon and can freely rotate around a hanging connection point, a wind shielding wing plate is arranged on the side face of the liquid storage tank, and a liquid medicine output head of the liquid storage tank is arranged on the side, away from the wind shielding wing plate, of the liquid storage tank. Acquiring a wind direction detection signal, and controlling the unmanned aerial vehicle to fly around the anchor point to the leeside of the balloon based on the wind direction detection signal; obtaining relative azimuth information based on the real-time image and a pre-stored docking state diagram, and controlling the unmanned aerial vehicle to adjust the position in a small distance and perform counterpoint connection based on a comparison result; and monitoring an alignment completion signal, and triggering a liquid adding process based on the alignment completion signal. The unmanned aerial vehicle has the advantage that the unmanned aerial vehicle can adapt to the position of the balloon liquid supplementing device.

    本申请涉及一种自适应风向的农药喷洒无人机的补液方法及相关装置,该方法包括以下步骤:获取实时图像,基于图像中的气球建立锚点并判断与锚点的距离,并控制无人机飞行到与锚点的预定距离,其中,气球悬挂有储液罐且储液罐能够环绕悬挂连接点自由转动,储液罐的侧面设置有挡风翼板,储液罐的药液输出头设置于储液罐背离挡风翼板的一侧;获取风向检测信号,并基于风向检测信号控制无人机环绕锚点飞行到气球的背风面;基于实时图像和预存的对接状态图获得相对方位信息,并基于对比结果控制无人机小距离调节位置并对位连接;监测对位完成信号,并基于对位完成信号触发加液流程。本申请具有能够使得无人机自适应于气球补液装置位置的优点。


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    Title :

    Wind-direction-adaptive liquid supplementing method of pesticide spraying unmanned aerial vehicle and related device


    Additional title:

    自适应风向的农药喷洒无人机的补液方法及相关装置


    Contributors:
    RUI XINJIE (author) / CHEN JIANCHANG (author) / XIE ZUOCHENG (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01M Tierfang, Tierfallen oder Abschreckvorrichtungen für Tiere , CATCHING, TRAPPING OR SCARING OF ANIMALS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U / G06V




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