The invention discloses an unmanned aerial vehicle double-unmanned aerial vehicle cooperative intelligent
pesticide spraying method for fruit trees, and relates to the technical field of
plant protection unmanned aerial vehicles, and the method comprises the steps: deploying a
laser radar and a high-precision GPS on an unmanned aerial vehicle, collecting
orchard three-dimensional
point cloud data, and constructing an
orchard three-dimensional
point cloud data set; performing data preprocessing on data in the constructed
orchard three-dimensional
point cloud data set, cleaning the data and performing position correction; an orchard three-dimensional grid model is constructed, orchard areas are divided based on the height of fruit trees, and tasks are allocated to the unmanned aerial vehicle; planning a
pesticide spraying path of the unmanned aerial vehicle to execute
pesticide spraying operation, and monitoring pesticide
sedimentation and spraying effects in real time; the comprehensive
score YL of the orchard is obtained according to pesticide spraying data collected in real time, the comprehensive
score YL and a preset pesticide spraying evaluation threshold value YZ are compared and analyzed, the current pesticide spraying condition of the orchard is evaluated, and supplementary operation is conducted; pesticide waste caused by
height difference of fruit trees is effectively reduced, the coverage rate and uniformity of pesticide spraying are improved, and the working efficiency of the unmanned aerial vehicle is improved.