A real-time detection method for plant protection UAV spraying effect

Abstract

The present invention relates to the field of plant protection spraying detection, in particular to a real-time detection method for the spraying effect of a plant protection drone. The drone is equipped with a machine vision camera device and an infrared thermal imaging camera device. Processing, to form a temperature difference between the spraying area and the non-spraying area, collect the visible light image and infrared image of the spraying target, and obtain the total area S of the spraying target through image processing t and the total area S of the application area c , so as to obtain the proportion S of the agent covering the spraying target c / S t . The detection method can realize real-time detection, and has the characteristics of high detection accuracy, fast image acquisition and processing speed, and short detection time.

Description

technical field [0001] The invention relates to the field of plant protection spraying detection, in particular to a real-time detection method for the spraying effect of a plant protection drone. Background technique [0002] At present, there are mainly two detection methods for the spraying effect of plant protection drones: one is the airborne machine vision detection method, which adopts the scheme of drones equipped with industrial cameras, and photographs the spraying of the spraying liquid from the plant protection drone. After spraying, it is scattered freely in the air until the atomized droplets hit the target or the ground, from which the air flight trajectory of the atomized droplet group is extracted, and the arrival area of ​​the sprayed liquid is predicted and judged. Due to the fact that the detection method cannot overcome the problems that the particle size of the atomized droplets of the sprayed liquid is too small, the liquid is a colorless transparent l...

AI Technical Summary

Problems solved by technology

Due to the fact that the detection method cannot overcome the problems that the particle size of the atomized droplets of the sprayed liquid is too small, the liquid is a colorless transparent liquid, and the spray disappears immediately after hitting the spraying target, it cannot accurately detect the spraying of the sprayed liquid. Scattering situation, the detection error is extremely large, let alone the detection of the spraying area of ​​the liquid medicine

[0003] The second is the method of laying moisture-sensitive paper. The method of laying moisture-sensitive paper on the spraying target can be used to analyze the scattering of the droplets that hit the target after the spraying liquid is atomized, but this method is an indirect method. detection method, so the online detection result cannot be returned, and the detection takes a long time

[0004] However, due to the lack of real-time detection of the spraying effect in the existing plant protection UAV liquid spray control method, the plant protection UAV liquid spray control method is forced to focus on open-loop control. Single spraying program with continuous uninterrupted spraying

Although this solution can adapt to the needs of spraying liquid medicine in plains and fields, for the spraying of liquid medicine on fruit trees in orchards in hilly and mountainous areas, due to the poor effect of open-loop control on the precise spraying of the target, it will cause great harm. Problems such as waste of liquid medicine, environmental pollution and inefficient spraying

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