CN118778668A - Automatic spraying adjustment method and system for agricultural drone - Google Patents

Abstract

The present application relates to an automatic spraying adjustment method and system for an agricultural drone, the method comprising obtaining farmland image information of a farmland to be sprayed and performing image analysis to obtain farmland spraying area and crop planting data, respectively planning the spraying path and spraying amount of the agricultural drone according to the farmland spraying area and the crop planting data, obtaining spraying planning data of the agricultural drone, obtaining pesticide amount change data during the pesticide spraying process according to the spraying planning data, dynamically adjusting the flight height of the agricultural drone according to the pesticide amount change data, obtaining spraying height adjustment data of the agricultural drone, judging the return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and performing return itinerary planning processing according to the return judgment result, and obtaining return adjustment data of the agricultural drone. The present application has the effect of improving the intelligent spraying control of the agricultural drone.

Description

Automatic spraying adjustment method and system for agricultural drone

Technical Field

The present invention relates to the technical field of agricultural UAV control, and in particular to an automatic spraying adjustment method and system for an agricultural UAV.

Background Art

At present, with the continuous integration of information technology and agricultural production, information technology is gradually replacing traditional manual farming operations to realize scientific and technological management of agricultural production. Replacing traditional manual crop spraying with drone technology has become one of the important directions for improving current agricultural production.

Existing agricultural drone spraying methods usually use semi-automatic flight spraying with manual control. The drone loaded with pesticides is manually controlled to fly over the farmland for indiscriminate spraying. The spraying path of the drone is controlled by a manually controlled remote control, and whether to stop the spraying work is decided by manual observation of the spraying effect. However, manual observation often requires personnel to control the drone and observe the spraying effect at the edge of the farmland. Under the action of wind, the operator is likely to inhale a large amount of pesticides. When the drone flies far away, the user cannot observe the spraying effect and can only decide the spraying time based on intuition or estimation. There is room for further adjustment and optimization of the spraying method of agricultural drones.

Summary of the invention

In order to improve the intelligence of spraying control of agricultural drones, the present application provides an automated spraying adjustment method and system for agricultural drones.

In the first aspect, the above-mentioned invention objective of the present application is achieved through the following technical solutions:

An automatic spraying adjustment method for an agricultural drone, comprising:

Acquire farmland image information of the farmland to be sprayed, perform image analysis on the farmland image information, and obtain farmland spraying area and crop planting data;

According to the farmland spraying area and the crop planting data, the spraying path and the amount of pesticide sprayed by the agricultural drone are planned respectively to obtain spraying planning data of the agricultural drone;

Acquiring pesticide quantity change data during the pesticide spraying process according to the spraying planning data, dynamically adjusting the flight altitude of the agricultural drone according to the pesticide quantity change data, and obtaining spraying altitude adjustment data of the agricultural drone;

The return mode is judged according to the spraying height adjustment data and the corresponding pesticide amount change data, and the return trip planning processing is performed according to the return judgment result to obtain the return adjustment data of the agricultural UAV.

By adopting the above technical scheme, the farmland spraying area and crop planting situation are analyzed in combination with the farmland image information of the farmland to be sprayed, which is helpful to make adaptive adjustments to the pesticide spraying needs of different spraying areas and different crops, expand the scope of application of agricultural drones, and automatically control each spraying flight location and corresponding spraying amount of the agricultural drone through the planning of the spraying path and the amount of pesticide sprayed by the agricultural drone. In the process of pesticide spraying according to the spraying planning data, the flight altitude of the agricultural drone is dynamically adjusted in combination with the change of pesticide dosage, so that the set spraying distance between the agricultural drone and the crops is always maintained, thereby improving the spraying effect. In combination with the flight altitude of the agricultural drone and the change of pesticide amount, the return mode of the agricultural drone is judged, and then the return itinerary of different return modes is planned, thereby improving the rationality of the return adjustment of the agricultural drone, achieving the effect of intelligent spraying of the agricultural drone, and improving the intelligence of the spraying control of the agricultural drone.

In a preferred example, the present application can be further configured as follows: the spraying path and the amount of pesticide sprayed by the agricultural drone are planned according to the farmland spraying area and the crop planting data, and the spraying planning data of the agricultural drone is obtained, which specifically includes:

Analyze the crop growth height and crop planting density in the crop planting data, and analyze the spraying height of the agricultural drone according to the crop growth height;

Obtaining the visualization range of the agricultural drone after reaching a preset spraying height, and analyzing the optimal spraying route in combination with the spraying area of the farmland and the crop planting density, to obtain the spraying path planning data of the agricultural drone;

Analyze the growth status of crops according to the crop planting data within the visualization range, evaluate the amount of pesticide spraying according to the crop growth status, and plan the amount of pesticide spraying by the agricultural drone according to the evaluation result;

The spraying path planning data and the corresponding pesticide spraying amount are associated with the UAV spraying control to obtain the spraying planning data of the agricultural UAV.

By adopting the above technical scheme, combined with data such as crop growth height and crop planting density in crop planting data, the spraying height analysis of agricultural drones is carried out, which helps to dynamically adjust the spraying height according to the growth conditions of specific crops and improve the spraying effect. The best spraying route analysis is carried out through the visualization range of the preset spraying height of the agricultural drone to improve the fit between the spraying effect and the growth conditions of crops. The pesticide spraying amount is evaluated in combination with the crop growth status, and then the pesticide spraying amount is planned to improve the rationality of pesticide spraying by agricultural drones. The control accuracy of agricultural drones is improved through dual coordinated planning between spraying paths and pesticide spraying amounts.

In a preferred example, the present application can be further configured as follows: obtaining pesticide amount change data during the pesticide spraying process according to the spraying planning data, dynamically adjusting the flight altitude of the agricultural drone according to the pesticide amount change data, and obtaining the spraying altitude adjustment data of the agricultural drone, specifically including:

The flight height of the agricultural UAV is calculated by formula (1), and the spraying height adjustment data of the agricultural UAV is obtained according to the calculation result. Formula (1) is as follows:

Among them, H represents the flight altitude of the agricultural UAV, ρ represents the current wind coefficient, G represents the acceleration of gravity, _D represents the weight of the agricultural UAV, _ΔD represents the weight change of the pesticide carried on the agricultural UAV, V represents the current flight speed of the agricultural UAV, and h _represents the average growth height of crops.

In a preferred example, the present application may be further configured as follows: before obtaining the pesticide quantity change data during the pesticide spraying process according to the spraying planning data, dynamically adjusting the flight height of the agricultural drone according to the pesticide quantity change data, and obtaining the spraying height adjustment data of the agricultural drone, the method further includes:

When the agricultural UAV reaches a preset flight altitude, the pesticide spraying range corresponding to the current flight altitude is calculated, and the pesticide spraying work is started when the control personnel are not within the pesticide spraying range.

By adopting the above technical solution, the pesticide spraying work can be started when the control personnel are not in the pesticide spraying range, which helps to reduce the inhalation of pesticides by the control personnel and improve the safety of pesticide spraying. In combination with the continuous reduction of pesticide usage during the spraying process, the flight altitude of the agricultural UAV is dynamically adjusted to ensure that the agricultural UAV always remains within the set altitude range for spraying, thereby improving the spraying effect of the agricultural UAV.

In a preferred example, the present application can be further configured as follows: the return mode is judged according to the spraying height adjustment data and the corresponding pesticide amount change data, and the return trip planning process is performed according to the return judgment result to obtain the return adjustment data of the agricultural drone, specifically including:

Calculate the maximum spraying range of the agricultural drone based on the pesticide quantity change data;

When the maximum spraying range is smaller than the spraying area of the farmland, the spraying mode of the agricultural drone is adjusted to a one-way spraying mode, and the drone returns to the destination when the pesticide is used up.

The optimal flight distance between the current position of the agricultural UAV and the replenishment position is calculated, and the return route of the one-way spraying is planned according to the optimal flight distance to obtain the return adjustment data of the one-way spraying.

In a preferred example, the present application can be further configured as follows: the return mode is judged according to the spraying height adjustment data and the corresponding pesticide amount change data, and the return trip planning process is performed according to the return judgment result to obtain the return adjustment data of the agricultural drone, and also includes:

When the maximum spraying range is greater than or equal to the farmland spraying area, the spraying mode of the agricultural drone is adjusted to round-trip spraying, and the drone returns when the sprayed pesticide amount reaches half of the total amount of pesticide;

Acquire spraying image data of the sprayed crops, and judge whether the current spraying effect reaches the preset spraying purpose based on the spraying image data;

If yes, the agricultural drone is controlled to return and spray the crops that have not been sprayed;

If not, the agricultural drone is controlled to return and double spray the crops that have not achieved the spraying effect until the agricultural drone returns to the spraying replenishment position to obtain the return adjustment data of the agricultural drone.

By adopting the above technical scheme, combined with the comparison between the maximum spraying range of the agricultural UAV and the spraying area of the farmland, the spraying mode of the agricultural UAV is adjusted to improve the adaptability of the agricultural UAV to different spraying environments, and one-way spraying or round-trip spraying is performed for different spraying farmlands to improve the spraying effect of crops. The working mode of the agricultural UAV is accurately adjusted, and the return planning is carried out in combination with the actual crop spraying effect and the optimal flight distance, so as to achieve the purpose of autonomous return planning of the agricultural UAV and improve the control adaptability of the agricultural UAV.

In the second aspect, the above invention objective of the present application is achieved through the following technical solutions:

An automatic spraying and regulating system for an agricultural drone, comprising:

A data acquisition module is used to acquire farmland image information of the farmland to be sprayed, perform image analysis on the farmland image information, and obtain the farmland spraying area and crop planting data;

A spraying planning module is used to plan the spraying path and the amount of pesticide sprayed by the agricultural drone according to the farmland spraying area and the crop planting data, and obtain spraying planning data of the agricultural drone;

A flight adjustment module, used to obtain pesticide amount change data during the pesticide spraying process according to the spraying planning data, dynamically adjust the flight altitude of the agricultural UAV according to the pesticide amount change data, and obtain spraying altitude adjustment data of the agricultural UAV;

The return adjustment module is used to determine the return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and to plan the return trip according to the return judgment result to obtain the return adjustment data of the agricultural UAV.

By adopting the above technical scheme, the farmland spraying area and crop planting situation are analyzed in combination with the farmland image information of the farmland to be sprayed, which is helpful to make adaptive adjustments to the pesticide spraying needs of different spraying areas and different crops, expand the scope of application of agricultural drones, and automatically control each spraying flight location and corresponding spraying amount of the agricultural drone through the planning of the spraying path and the amount of pesticide sprayed by the agricultural drone. In the process of pesticide spraying according to the spraying planning data, the flight altitude of the agricultural drone is dynamically adjusted in combination with the change of pesticide dosage, so that the set spraying distance between the agricultural drone and the crops is always maintained, thereby improving the spraying effect. In combination with the flight altitude of the agricultural drone and the change of pesticide amount, the return mode of the agricultural drone is judged, and then the return itinerary of different return modes is planned, thereby improving the rationality of the return adjustment of the agricultural drone, achieving the effect of intelligent spraying of the agricultural drone, and improving the intelligence of the spraying control of the agricultural drone.

On the third aspect, the above-mentioned purpose of the present application is achieved through the following technical solutions:

A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the automatic spraying adjustment method of the agricultural drone are implemented.

Fourthly, the above-mentioned purpose of the present application is achieved through the following technical solutions:

A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned automatic spraying adjustment method for an agricultural drone.

In summary, the present application includes at least one of the following beneficial technical effects:

1. Analyze the spraying area and crop planting conditions of the farmland in combination with the farmland image information of the farmland to be sprayed, which is helpful to make adaptive adjustments to the pesticide spraying needs of different spraying areas and different crops, expand the scope of application of agricultural drones, and automatically control each spraying flight location and corresponding spraying amount of the agricultural drone through the planning of the spraying path and the amount of pesticide sprayed by the agricultural drone. In the process of spraying pesticides according to the spraying planning data, the flight altitude of the agricultural drone is dynamically adjusted in combination with the change of pesticide dosage, so that the set spraying distance between the agricultural drone and the crops is always maintained to improve the spraying effect. In combination with the flight altitude and the change of pesticide dosage of the agricultural drone, the return mode of the agricultural drone is judged, and then the return itinerary of different return modes is planned, the rationality of the return adjustment of the agricultural drone is improved, the effect of intelligent spraying of the agricultural drone is achieved, and the intelligence of the spraying control of the agricultural drone is improved;

2. Combined with the crop growth height and crop planting density in the crop planting data, the spraying height analysis of agricultural drones is carried out, which is helpful to dynamically adjust the spraying height according to the growth conditions of specific crops and improve the spraying effect. Through the visualization range of the agricultural drone at the preset spraying height, the best spraying route analysis is carried out to improve the fit between the spraying effect and the growth conditions of crops. The pesticide spraying amount is evaluated in combination with the crop growth status, and then the pesticide spraying amount is planned to improve the rationality of pesticide spraying by agricultural drones. Through the dual coordinated planning between the spraying path and the pesticide spraying amount, the control accuracy of agricultural drones is improved;

3. Based on the comparison between the maximum spraying range of agricultural drones and the spraying area of farmland, the spraying method of agricultural drones is adjusted to improve the adaptability of agricultural drones to different spraying environments. Single-trip spraying or round-trip spraying is performed for different spraying farmlands to improve the spraying effect of crops. The working mode of agricultural drones is accurately adjusted, and return planning is carried out based on the actual crop spraying effect and the optimal flight distance to achieve the purpose of autonomous return planning of agricultural drones and improve the control adaptability of agricultural drones.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of an implementation method of an automatic spraying adjustment method of an agricultural UAV according to the present embodiment.

FIG. 2 is a flowchart of step S20 of an automatic spraying adjustment method for an agricultural drone according to this embodiment.

FIG3 is a flowchart of the implementation of step S40 of the method for automatically adjusting spraying of an agricultural drone in this embodiment.

FIG4 is a flowchart of the implementation of the return analysis of the automated spraying adjustment method of the agricultural UAV in this embodiment.

FIG5 is a structural block diagram of an automatic spraying and regulating system of an agricultural UAV according to the present embodiment.

FIG. 6 is a schematic diagram of the internal structure of a computer device for implementing an automated spraying adjustment method for an agricultural UAV.

DETAILED DESCRIPTION

The present application is further described in detail below in conjunction with the accompanying drawings.

In one embodiment, as shown in FIG1 , the present application discloses an automatic spraying adjustment method for an agricultural drone, which specifically includes the following steps:

S10: Acquire farmland image information of the farmland to be sprayed, perform image analysis on the farmland image information, and obtain the farmland spraying area and crop planting data.

Specifically, the farmland information of the farmland to be sprayed is collected by a high-definition camera device pre-loaded on the agricultural UAV, that is, before the pesticide spraying work is carried out, the agricultural UAV is controlled to fly around the farmland to collect farmland image information, and the farmland spraying area and crop planting data of the farmland to be sprayed are obtained through image analysis, such as the distribution position of crops in the farmland, the growth status of crops, etc.

S20: According to the farmland spraying area and crop planting data, the spraying path and the amount of pesticide sprayed by the agricultural drone are planned respectively to obtain the spraying planning data of the agricultural drone.

Specifically, as shown in FIG. 2 , step S20 includes:

S201: Analyze the crop growth height and crop planting density in the crop planting data, and analyze the spraying height of the agricultural drone according to the crop growth height.

Specifically, the image data collected by agricultural drones is combined with crop variety identification to analyze the growth height of crops in farmland, and the crop planting density is analyzed based on the crop distribution situation, so as to analyze the spraying height of agricultural drones. For example, for tall crops such as corn, the spraying height of agricultural drones needs to be controlled to 3-5 meters above the height of corn. For short crops such as wheat and rice, the spraying height of agricultural drones needs to be controlled to 1-3 meters above the height of wheat and rice, etc., which can be planned according to actual needs.

S202: Obtain the visualization range of the agricultural drone after it reaches a preset spraying height, and analyze the optimal spraying route in combination with the spraying area of the farmland and the crop planting density to obtain the spraying path planning data of the agricultural drone.

Specifically, when the agricultural UAV flies to a preset spraying height, the visualization range of the UAV is obtained according to the shooting range of the mounted high-definition camera equipment. Combined with the proportion or occupied position of the visualization range of the current position in the spraying area of the farmland, as well as the crop planting density within the current visualization range, priority is given to spraying at locations with high crop planting density, or spraying is performed from the corner of the farmland toward the center of the farmland. The best spraying route in this embodiment is the direction with higher crop planting density as the best direction, thereby obtaining the spraying path planning data of the agricultural UAV.

S203: Analyze the growth status of crops according to the crop planting data within the visualization range, evaluate the amount of pesticide spraying according to the crop growth status, and plan the amount of pesticide spraying by the agricultural drone according to the evaluation result.

Specifically, the growth status of crops is analyzed based on the crop planting data within the visualization range. For example, the captured crop images including various state images of crops such as growth height, growth density, flowering, and fruiting are compared with preset crop atlases. The growth status of crops is analyzed based on the comparison results, such as whether they have reached the flowering stage, the fruiting stage, etc., so as to evaluate the amount of pesticide spraying for crops in different growth states. The amount of pesticide spraying required for crops in different growth states is different, and the amount of pesticide spraying required in combination with the actual growth density is also different. For example, the greater the growth density of crops, the greater the amount of pesticide required.

S204: Associating the spraying path planning data with the corresponding pesticide dosage for UAV spraying control to obtain spraying planning data for the agricultural UAV.

Specifically, each spraying location in the spraying path planning data and the amount of pesticide sprayed at the corresponding spraying location are combined, and the spraying control data are associated with the spraying location as the association point. In addition, the associated data are sequentially associated according to the spraying path planning order of the UAV to obtain the spraying planning data of the agricultural UAV.

S30: Acquire pesticide quantity change data during the pesticide spraying process according to the spraying planning data, dynamically adjust the flight altitude of the agricultural UAV according to the pesticide quantity change data, and obtain spraying altitude adjustment data of the agricultural UAV.

Specifically, step S30 includes:

The flight height of the agricultural UAV is calculated by formula (1), and the spraying height adjustment data of the agricultural UAV is obtained according to the calculation result. Formula (1) is as follows:

Among them, H represents the flight altitude of the agricultural UAV, ρ represents the current wind coefficient, G represents the acceleration of gravity, _D represents the weight of the agricultural UAV, _ΔD represents the weight change of the pesticide carried on the agricultural UAV, V represents the current flight speed of the agricultural UAV, and h _represents the average growth height of crops.

In this embodiment, before obtaining the pesticide amount change data during the pesticide spraying according to the spraying planning data, dynamically adjusting the flight height of the agricultural drone according to the pesticide amount change data, and obtaining the spraying height adjustment data of the agricultural drone, it also includes:

When the agricultural UAV reaches the preset flight altitude, the pesticide spraying range corresponding to the current flight altitude is calculated, and the pesticide spraying work is started when the control personnel are not within the pesticide spraying range.

Specifically, when the agricultural UAV carrying pesticides flies to a preset flight altitude, the spraying width is set according to the spraying range of the pesticide nozzle, and the pesticide spraying range is calculated in combination with the preset flight altitude. When the agricultural UAV flies to a point where the control personnel are not within the pesticide spraying range, the pesticide nozzle is controlled to start the pesticide spraying work.

S40: judging the return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and performing return trip planning processing according to the return judgment result to obtain the return adjustment data of the agricultural UAV.

Specifically, as shown in FIG3 , step S40 includes:

S401: Calculate the maximum spraying range of the agricultural UAV according to the pesticide amount change data.

Specifically, the maximum spraying range in this embodiment is the maximum distance that the agricultural drone can fly when the amount of pesticide carried by the agricultural drone reaches 0 during the current pesticide spraying operation.

S402: When the maximum spraying range is smaller than the spraying area of the farmland, the spraying mode of the agricultural drone is adjusted to one-way spraying, and the drone returns when the pesticide is used up.

Specifically, when the maximum spraying range is smaller than the spraying area of the farmland, that is, when the pesticide is used up, the farthest distance the drone can fly exceeds the maximum straight-line distance of the farmland, the spraying mode of the agricultural drone is adjusted to a one-way spraying mode. When the pesticide is used up, that is, the amount of pesticide carried reaches 0, the agricultural drone is controlled to return to the pesticide replenishment location.

S403: Calculate the optimal flight distance between the current position of the agricultural UAV and the spraying replenishment position, plan the return route of the one-way spraying according to the optimal flight distance, and obtain the return adjustment data of the one-way spraying.

Specifically, the optimal flight distance between the position where the agricultural drone reaches the end of the pesticide use and the replenishment position, such as the straight-line distance, is calculated, and the return route is planned in combination with obstacles on the optimal flight distance, such as overly tall crops, to obtain return adjustment data that avoids obstacles.

In this embodiment, as shown in FIG4 , step S40 further includes:

S404: When the maximum spraying range is greater than or equal to the spraying area of the farmland, the spraying mode of the agricultural drone is adjusted to round-trip spraying, and the drone returns when the sprayed pesticide amount reaches half of the total pesticide amount.

Specifically, when the maximum spraying range is greater than or equal to the spraying area of the farmland, that is, the farthest distance of the agricultural UAV is greater than or equal to the maximum straight-line distance of the farmland, and the amount of pesticide carried can cover the required spraying area of the farmland, the spraying mode of the agricultural UAV is adjusted to the round-trip spraying mode. The battery usage of the UAV is reasonably planned through the round-trip spraying mode, and the return process is performed when the amount of pesticide sprayed reaches half of the total amount. It should be noted that the return trigger condition can be set according to actual needs and is not limited to the one in the present embodiment.

S405: Acquire spraying image data of the sprayed crops, and determine whether the current spraying effect reaches the preset spraying purpose based on the spraying image data.

Specifically, spraying image data of sprayed crops is obtained, and whether the current spraying effect has achieved the preset spraying purpose is determined based on the attached water droplets or leaf surface wetness on the spraying image. For example, when the leaf surface wetness reaches the preset value, it indicates that the preset spraying purpose has been achieved.

S406: If yes, the agricultural drone is controlled to return and spray the crops that have not been sprayed.

Specifically, if the preset spraying purpose is achieved, the route of the agricultural drone will be replanned to exclude the sprayed position, and the agricultural drone will be controlled to return and spray the unsprayed crops.

S407: If not, the agricultural drone is controlled to return and double spray the crops that have not achieved the spraying effect, until the agricultural drone returns to the spraying replenishment position, and the return adjustment data of the agricultural drone is obtained.

Specifically, if the preset spraying purpose is not achieved, the agricultural UAV will be returned to the original path of the spraying path, and the crops that have not achieved the spraying effect will be subjected to double spraying on the return trip, that is, the crops that have not achieved the spraying effect will be checked for omissions and deficiencies in the spraying work until the agricultural UAV returns to the replenishing position for re-replenishing, and the return adjustment data of the agricultural UAV is obtained.

It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

In one embodiment, an automatic spraying adjustment system for an agricultural drone is provided, and the automatic spraying adjustment system for an agricultural drone corresponds one-to-one to the automatic spraying adjustment method for an agricultural drone in the above embodiment. As shown in FIG5 , the automatic spraying adjustment system for an agricultural drone includes a data acquisition module, a spraying planning module, a flight adjustment module, and a return adjustment module. The functional modules are described in detail as follows:

The data acquisition module is used to acquire the farmland image information of the farmland to be sprayed, perform image analysis on the farmland image information, and obtain the farmland spraying area and crop planting data.

The spraying planning module is used to plan the spraying path and the amount of pesticides to be sprayed by the agricultural drone according to the spraying area of the farmland and the crop planting data, and obtain the spraying planning data of the agricultural drone.

The flight adjustment module is used to obtain pesticide quantity change data during the pesticide spraying process according to the spraying planning data, dynamically adjust the flight altitude of the agricultural UAV according to the pesticide quantity change data, and obtain the spraying height adjustment data of the agricultural UAV.

The return adjustment module is used to determine the return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and to plan the return trip according to the return judgment result to obtain the return adjustment data of the agricultural UAV.

Preferably, the spraying planning module specifically includes:

The height analysis submodule is used to analyze the crop growth height and crop planting density in the crop planting data, and analyze the spraying height of agricultural drones based on the crop growth height.

The path analysis submodule is used to obtain the visualization range of the agricultural UAV after it reaches the preset spraying height, and analyze the optimal spraying route in combination with the spraying area of the farmland and the crop planting density to obtain the spraying path planning data of the agricultural UAV.

The dosage analysis submodule is used to analyze the growth status of crops according to the crop planting data within the visualization range, evaluate the pesticide spraying dosage according to the crop growth status, and plan the pesticide spraying dosage of agricultural drones according to the evaluation results.

The data association submodule is used to associate the spraying path planning data with the corresponding spraying pesticide dosage for UAV spraying control, so as to obtain the spraying planning data of the agricultural UAV.

Preferably, the flight adjustment module specifically includes:

The flight height of the agricultural UAV is calculated by formula (1), and the spraying height adjustment data of the agricultural UAV is obtained according to the calculation result. Formula (1) is as follows:

Among them, H represents the flight altitude of the agricultural UAV, ρ represents the current wind coefficient, G represents the acceleration of gravity, _D represents the weight of the agricultural UAV, _ΔD represents the weight change of the pesticide carried on the agricultural UAV, V represents the current flight speed of the agricultural UAV, and h _represents the average growth height of crops.

Preferably, before the flight adjustment module, it also includes:

The spraying start submodule is used to calculate the pesticide spraying range corresponding to the current flight altitude when the agricultural UAV reaches the preset flight altitude, and start the pesticide spraying work when the control personnel are not within the pesticide spraying range.

Preferably, the return adjustment module specifically includes:

The range calculation submodule is used to calculate the maximum spraying range of the agricultural drone based on the pesticide dosage change data.

The one-way spraying submodule is used to adjust the spraying mode of the agricultural drone to one-way spraying when the maximum spraying range is smaller than the spraying area of the farmland, and to return home when the pesticide is exhausted.

The one-way return submodule is used to calculate the optimal flight distance between the current position of the agricultural drone and the replenishment position, plan the return route of the one-way spraying according to the optimal flight distance, and obtain the return adjustment data of the one-way spraying.

Preferably, the flight adjustment module further includes:

The round-trip spraying submodule is used to adjust the spraying mode of the agricultural drone to round-trip spraying when the maximum spraying range is greater than or equal to the spraying area of the farmland, and to return when the sprayed pesticide amount reaches half of the total amount.

The spraying judgment submodule is used to obtain the spraying image data of the sprayed crops and judge whether the current spraying effect reaches the preset spraying purpose based on the spraying image data.

The return spraying submodule is used to control the agricultural drone to return and spray the crops that have not been sprayed.

The double spraying submodule is used to control the agricultural drone to perform return double spraying on the crops that have not achieved the spraying effect, until the agricultural drone returns to the spraying replenishment position, and obtain the return adjustment data of the agricultural drone.

For the specific definition of the automatic spraying adjustment system of agricultural drones, please refer to the definition of the automatic spraying adjustment method of agricultural drones above, which will not be repeated here. Each module in the above-mentioned automatic spraying adjustment system of agricultural drones can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG6. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pesticide spraying control data of an agricultural drone. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an automatic spraying adjustment method for an agricultural drone is implemented.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of an automated spraying adjustment method for an agricultural drone are implemented.

Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims (9)

1. An automatic spraying adjustment method of an agricultural unmanned aerial vehicle is characterized by comprising the following steps:

Acquiring farmland image information of a farmland to be sprayed, and performing image analysis on the farmland image information to obtain farmland spraying area and crop planting data;

Respectively planning a spraying path and the pesticide spraying dosage of the agricultural unmanned aerial vehicle according to the farmland spraying area and the crop planting data to obtain spraying planning data of the agricultural unmanned aerial vehicle;

acquiring pesticide quantity change data in the pesticide spraying process according to the spraying planning data, and dynamically adjusting the flying height of the agricultural unmanned aerial vehicle according to the pesticide quantity change data to obtain spraying height adjustment data of the agricultural unmanned aerial vehicle;

and judging a return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and performing return journey planning processing according to a return judgment result to obtain return adjustment data of the agricultural unmanned aerial vehicle.

2. The method for automatically spraying and adjusting the agricultural unmanned aerial vehicle according to claim 1, wherein the steps of respectively planning a spraying path and a pesticide spraying amount of the agricultural unmanned aerial vehicle according to the farmland spraying area and the crop planting data to obtain spraying planning data of the agricultural unmanned aerial vehicle comprise the following steps:

analyzing the crop growth height and the crop planting density in the crop planting data, and analyzing the spraying height of the agricultural unmanned aerial vehicle according to the crop growth height;

The method comprises the steps of obtaining a visual range of an agricultural unmanned aerial vehicle after reaching a preset spraying height, and analyzing an optimal spraying route by combining the farmland spraying area and the crop planting density to obtain spraying route planning data of the agricultural unmanned aerial vehicle;

Analyzing the growth state of crops according to the crop planting data in the visual range, evaluating the pesticide spraying amount according to the growth state of the crops, and planning the pesticide spraying amount of the agricultural unmanned aerial vehicle according to the evaluation result;

and carrying out unmanned aerial vehicle spraying control association on the spraying path planning data and the corresponding pesticide spraying dosage to obtain the spraying planning data of the agricultural unmanned aerial vehicle.

3. The method for automatically adjusting the spraying height of the agricultural unmanned aerial vehicle according to claim 1, wherein the pesticide amount change data is obtained in the pesticide spraying process according to the spraying plan data, and the flying height of the agricultural unmanned aerial vehicle is dynamically adjusted according to the pesticide amount change data to obtain the spraying height adjustment data of the agricultural unmanned aerial vehicle, specifically comprising:

Calculating the flying height of the agricultural unmanned aerial vehicle through a formula (1), and obtaining the spraying height adjustment data of the agricultural unmanned aerial vehicle according to a calculation result, wherein the formula (1) is as follows:

Wherein, H represents the flying height of the agricultural unmanned aerial vehicle, ρ represents the current wind power coefficient, G represents the gravity acceleration, D _{Machine for making food} represents the dead weight of the agricultural unmanned aerial vehicle, deltaD _Medicine represents the pesticide weight change value carried on the agricultural unmanned aerial vehicle, V represents the current flying speed of the agricultural unmanned aerial vehicle, and H _Planting represents the average growth height of crops.

4. The method for automatically adjusting the spraying height of the agricultural unmanned aerial vehicle according to claim 3, wherein the method for automatically adjusting the spraying height of the agricultural unmanned aerial vehicle according to the pesticide quantity change data obtained in the pesticide spraying process according to the spraying plan data, before obtaining the spraying height adjustment data of the agricultural unmanned aerial vehicle, further comprises:

When the agricultural unmanned aerial vehicle reaches a preset flight height, calculating a pesticide spraying range corresponding to the current flight height, and starting pesticide spraying work when a control person is not in the pesticide spraying range.

5. The method for automatically adjusting the spraying of the agricultural unmanned aerial vehicle according to claim 1, wherein the method for adjusting the spraying height according to the spraying height adjustment data and the corresponding pesticide amount change data comprises the steps of:

Calculating the maximum spraying range of the agricultural unmanned aerial vehicle according to the pesticide amount data;

when the maximum spraying range is smaller than the farmland spraying area, the spraying mode of the agricultural unmanned aerial vehicle is adjusted to single-pass spraying, and return processing is carried out when the pesticide amount is used up;

And calculating the optimal course distance between the current position and the medicine supplementing position of the agricultural unmanned aerial vehicle, and planning a return course of the single-pass spraying according to the optimal course distance to obtain return regulation data of the single-pass spraying.

6. The method for automatically adjusting spraying of an agricultural unmanned aerial vehicle according to claim 5, wherein the method for adjusting the spraying height according to the spraying height adjustment data and the corresponding pesticide amount change data comprises the steps of:

when the maximum spraying range is larger than or equal to the farmland spraying area, adjusting the spraying mode of the agricultural unmanned aerial vehicle to back-and-forth spraying, and carrying out returning processing when the pesticide spraying amount reaches half of the total pesticide amount;

acquiring spraying image data of sprayed crops, and judging whether the current spraying effect reaches a preset spraying purpose or not according to the spraying image data;

if yes, controlling the agricultural unmanned aerial vehicle to carry out return spraying treatment on the non-sprayed crops;

If not, controlling the agricultural unmanned aerial vehicle to perform the return double spraying treatment on the crops which do not reach the spraying effect until the agricultural unmanned aerial vehicle returns to the medicine supplementing position, and obtaining the return regulation data of the agricultural unmanned aerial vehicle.

7. An automated spray regulation system for an agricultural unmanned aerial vehicle, comprising:

The data acquisition module is used for acquiring farmland image information of a farmland to be sprayed, and carrying out image analysis on the farmland image information to obtain farmland spraying area and crop planting data;

the spraying planning module is used for respectively planning a spraying path and the pesticide spraying dosage of the agricultural unmanned aerial vehicle according to the farmland spraying area and the crop planting data to obtain spraying planning data of the agricultural unmanned aerial vehicle;

the flight adjusting module is used for acquiring pesticide quantity change data in the pesticide spraying process according to the spraying planning data, dynamically adjusting the flight height of the agricultural unmanned aerial vehicle according to the pesticide quantity change data, and acquiring spraying height adjusting data of the agricultural unmanned aerial vehicle;

and the return adjustment module is used for judging a return mode according to the spraying height adjustment data and the corresponding pesticide amount change data, and carrying out return route planning processing according to a return judgment result to obtain return adjustment data of the agricultural unmanned aerial vehicle.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the method for automated spray adjustment of an agricultural unmanned aerial vehicle according to any one of claims 1 to 6.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the automated spray adjustment method of an agricultural unmanned aerial vehicle according to any one of claims 1 to 6.