Unmanned rotorcraft automatic pesticide applying system and method based on stereoscopic measurement

Abstract

The invention discloses an unmanned rotorcraft automatic pesticide applying system and method based on stereoscopic measurement. The system comprises an unmanned rotorcraft, a relative height measurement module, a crown image measurement module, a pesticide applying decision making module and a pesticide applying control module. The method comprises the following steps that pesticide applying decision making information is pre-input into a ground-based computer; the unmanned rotorcraft is controlled to hover over a fruit tree; the relative height delta H away from a crown, GPS positioning data and crown area data are measured; the pesticide applying decision making module sends an instruction for regulating and controlling the pesticide applying mode of the unmanned rotorcraft according to the relative height delta H, the GPS positioning data and the crown area data; the pesticide applying control module regulates the flying attitude and the number of spray heads according to control information of a remote control module, and then pesticide is sprayed. According to the system and method, height measurement is accurate, the measuring range is wide, and adjustment is easy; the measurement cost is low, omission is avoided, and errors are small; pesticide applying waste or inefficient pesticide applying is avoided; pesticide applying is precise.

Description

Technical field [0001] The invention belongs to the technical field of agricultural aviation plant protection, and is specifically an automatic pesticide application system and method for a rotor drone based on stereoscopic measurement. Background technique [0002] In the process of crop growth, the effective prevention and control of diseases and insect pests is an indispensable and important link to ensure food safety production, which directly affects the yield and quality of food. In the current production process of grain crops in China, chemical spraying is still dominated by manual and semi-mechanized operations. As a result, monitoring and early warning are disconnected from unified defense and governance, resulting in serious economic losses. At the same time, the operation involves a lot of labor and labor intensity, and poisoning incidents of pesticide applicators occur from time to time. [0003] Rotary-wing UAV spraying technology uses light and small-sized ro...

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Problems solved by technology

[0005] Although the application of pesticides by rotor drones is developing rapidly at present, there are still many problems, such as: the accuracy of pesticide application is still poor, especially when spraying pesticides for crops with large spacing, it is often necessary to expand the spraying area, which in turn causes waste; and the spraying is not uniform enough, the spraying effect is greatly reduced

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