Unmanned aerial vehicle operating method and device

An Unmanned Aerial Vehicle (UAV) operating method, comprising:

• acquiring a list of an operation object to be operated, the list of the operation object comprising mapping information of at least one operation object arranged in sequence, and the mapping information comprising a safe height, geographic position information and a spray radius, of the operation object;
• acquiring one operation object selected from the list of the operation object as a current operation object, and reading mapping information of the current operation object;
• adjusting a flight height of the UAV to a safe height of the current operation object, and flying, according to the safe height, to a position corresponding to geographic position information of the current operation object;
• performing, at the position corresponding to the geographic position information of the current operation object, a spraying operation on the current operation object based on a spray radius of the current operation object;
• after completing an operation on the current operation object, reading mapping information of a next operation object, and judging whether a safe height of the next operation object is greater than the safe height of the current operation object;
• when a judging result is that the safe height of the next operation object is greater than the safe height of the current operation object, adjusting, at the position of the current operation object, the flight height of the UAV to the safe height of the next operation object, flying, according to the adjusted safe height, to a position corresponding to geographic position information of the next operation object, and performing, at the position corresponding to the geographic position information of the next operation object, a spraying operation on the next operation object based on a spray radius of the next operation object;
• and
• when a judging result is that the safe height of the next operation object is not greater than the safe height of the current operation object, flying, according to the safe height corresponding to the current operation object, to the position corresponding to the geographic position information of the next operation object, after reaching the position corresponding to the geographic position information of the next operation object, adjusting the safe height to the safe height of the next operation object, and performing, based on the adjusted safe height, a spraying operation on the next operation object according to the spray radius of the next operation object;
• wherein the spraying operation comprises a spiral spraying operation, and the spiral spraying operation comprises:
• determining operating parameters required for the spiral spraying operation, the operating parameters comprising an initial hovering radius, a number of hovers, a pitch, and a helix angular rate, wherein the initial hovering radius is less than or equal to the spray radius;
• and
• taking the geographic position information of the operation object as a spiral center, starting to fly around with the initial hovering radius, increasing a corresponding pitch every turn, completing the operation of the operation object when the number of hovers is satisfied and/or the spray radius is reached, and during the flight, rotating a body according to the helix angular rate.

An Unmanned Aerial Vehicle (UAV) operating device, comprising:

• a mapping information acquiring component, configured to acquire mapping information of an operation object to be operated, the mapping information comprising a safe height, geographic position information and a spray radius, of the operation object;
• a first safe height adjusting component, configured to adjust a flight height of the UAV to the safe height;
• a first flight component, configured to fly, according to the safe height, to a position corresponding to the geographic position information;
• and
• a spiral spraying component, configured to perform, at the position corresponding to the geographic position information, a spiral spraying operation on the operation object based on the spray radius;
• wherein the spiral spraying component is further configured to:
• determine operating parameters required for the spiral spraying operation, the operating parameters comprising an initial hovering radius, a number of hovers, a pitch, and a helix angular rate, wherein the initial hovering radius is less than or equal to the spray radius;
• and
• take the geographic position information of the operation object as a spiral center, started to fly around with the initial hovering radius, increase a corresponding pitch every turn, complete a operation of the operation object when the number of hovers is satisfied and/or the spray radius is reached, and during the flight, rotate a body according to the helix angular rate.