A droplet deposition detection and analysis system and method

Abstract

The present invention relates to the field of pesticide application by plant protection unmanned aerial vehicles (UAVs), and discloses a droplet deposition detection and analysis system and method. The technical solution comprises the following key points: a three-camera image acquisition module acquires motion frames of the UAV, frames of crop disturbance under the action of rotor airflow, and frames of droplet deposition; a calibration light source is used to synchronously calibrate the time axes of the three-camera frames; a spatial distribution calculation method for the three elements of the UAV, the crop disturbance area, and the droplet deposition is used to obtain the instantaneous spatial position difference of the three elements; the instantaneous spatial distribution law of the three factors, the UAV, the crop disturbance area, and the droplet deposition, and the droplet group deposition time are explored under different parameters such as aircraft structure, nozzle position, flight speed, and altitude load; and a basis is provided for optimizing the droplet deposition effect of the UAV during pesticide application.

Description

Technical Field

[0001] The present invention relates to the field of pesticide application by unmanned aerial vehicles for plant protection, and more particularly to a system and method for detecting and analyzing droplet deposition. Background Art

[0002] During the pesticide application work of plant protection drones, the spatial distribution matching of the plant protection drones, crop disturbance areas and droplet deposition is an important factor determining the droplet deposition effect of rotor airflow transport.

[0003] However, in actual field operations, existing plant protection drones fly at a relatively high speed; and the detection and analysis technology for the instantaneous spatial position relationship between plant protection drones, crop disturbance areas, and droplet deposition is still immature, making it difficult to meet the needs of optimized design of plant protection drones.

[0004] Therefore, the present invention provides a droplet deposition detection and analysis system and method, which improves the above-mentioned technical problems. Summary of the Invention

[0005] The embodiments of the present disclosure aim to address the deficiencies of the prior art and provide a droplet deposition detection and analysis system and method. The present invention increases the instantaneous overlap between the crop disturbance area and the droplet deposition area, and utilizes the plant protection drone spraying droplet deposition detection and analysis system to achieve instantaneous spatial distribution detection and analysis of the plant protection drone, crop disturbance area, and droplet deposition during field operations, providing a basis for the design of the rotor and nozzle layout of the plant protection drone.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: A droplet deposition detection and analysis system, the system comprising: a three-camera image acquisition module, a droplet imaging board, a calibration light source, and an information processor;

[0007] The three-camera image acquisition module includes: side, upper, and lower image acquisition units; the side image acquisition unit is used to acquire plant protection aircraft frames; the upper image acquisition unit is used to acquire crop disturbance frames; and the lower image acquisition unit is used to acquire droplet deposition frames.

[0008] The droplet imaging plate is used to collect and image the settling droplets;

[0009] The calibration light source is used to calibrate the frame positions of the three-camera image acquisition module;

[0010] The information processor is used to send control instructions to the calibration light source, side, upper and lower image acquisition units, and collect the frame data sent back by the side, upper and lower image acquisition units; at the same time, it performs synchronous calibration of the frames of each camera position, analyzes the instantaneous spatial distribution relationship between the plant protection drone, the crop disturbance area and the droplet deposition, and detects the effect of the rotor airflow of the plant protection drone on the deposition and transportation of pesticide droplets.

[0011] As a preferred technical solution of the present invention, the acquisition frame rates of the lateral, superior, and inferior image acquisition units are the same; the lateral, superior, and inferior image acquisition units are arranged in the same acquisition vertical plane, and the normal direction of the acquisition vertical plane is the direction of the plant protection unmanned aircraft;

[0012] The side image acquisition unit is arranged on one side of the flight direction, at the same height as the flight altitude of the plant protection UAV, with the acquisition field of view facing horizontally towards the flight route, and is used to capture motion frames of the plant protection UAV;

[0013] The upper image acquisition unit is arranged directly above the flight path, with a capture field of view vertically downward toward the flight path, for capturing frames of crop disturbance caused by the rotor airflow;

[0014] The lower image acquisition unit is arranged below the flight path, with its acquisition field of view pointing vertically downward toward the droplet imaging board, for acquiring droplet deposition frames.

[0015] As a preferred technical solution of the present invention, the droplet imaging board is located directly below the lower image acquisition unit; the collection surface of the droplet imaging board is upward, and multiple collection positions can be arranged horizontally in a line within the vertical collection plane according to the requirements of droplet deposition detection and analysis.

[0016] As a preferred technical solution of the present invention, the droplet imaging plate can use water-sensitive test paper to image the settling droplets.

[0017] As a preferred technical solution of the present invention, the process of calibrating the frame position of the three-camera image acquisition module is as follows:

[0018] The three-camera image acquisition module respectively obtains images of plant protection aircraft, images of crop disturbance, and images of droplet deposition; arranges the continuous images of the three cameras in sequence in units of frames, and creates a frame sequence with the frames as coordinate axes; finds calibration frames for calibrated light source exposure from the frame sequence, and fixes the calibration frames of the frame sequences of each camera to the same frame through frame translation, and arranges them in parallel within the same frame coordinate axis.

[0019] As a preferred technical solution of the present invention, the process of analyzing the instantaneous spatial distribution of the plant protection drone, the crop disturbance area, and the droplet deposition is as follows:

[0020] The frame sequences of the synchronously calibrated plant protection aircraft image, crop disturbance image, and droplet deposition image are sorted in parallel, and the frame position of the calibrated frame corresponding to the frame coordinate axis is used as the reference frame position; the first and last frame positions of the three-factor imaging frames of the plant protection unmanned aircraft, rotor airflow, and droplet deposition are determined respectively; the position difference X of the above three factors is calculated. LM 、X LN and X MNThen, the instantaneous spatial position difference S of the three factors is solved according to the image acquisition frequency f and the forward speed V of the plant protection drone spraying operation LM 、S LN and S MN Further analyze the instantaneous spatial distribution patterns of the three factors of plant protection drones, crop disturbance areas, and falling droplets, as well as the droplet group deposition time;

[0021] Plant protection drone imaging frame: In the frame sequence acquired by the side image acquisition unit, the plant protection drone passes through the vertical plane from the beginning to the end of the frame, and the first and last frames are L a , L b ;

[0022] Crop disturbance imaging frame: In the frame sequence acquired by the upper image acquisition unit, all frames from the beginning of the crop disturbance vortex passing through the acquisition vertical plane to the complete passing through, the first and last frame positions of the frame are M a , M b ;

[0023] Droplet deposition imaging frame: In the frame sequence acquired by the lower image acquisition unit, all frames in the droplet imaging plate from the beginning of the appearance of droplets to the end of the increase of droplets, the first and last frame positions of the frame are N a , N b ;

[0024] The frame position difference between the plant protection UAV image frame and the crop disturbance image frame is X LM :

[0025]

[0026] The frame position difference between the image frame of the plant protection UAV and the image frame of the droplet deposition is X LN :

[0027]

[0028] The frame position difference between the crop disturbance imaging frame and the droplet deposition imaging frame is X MN :

[0029]

[0030] The image acquisition frequency is f, and the frame time difference is

[0031] The droplet group deposition time T N The time it takes for all frames to pass from the beginning of the appearance of droplets to the end of the increase in droplets in the droplet image plane.

[0032] T N =T×(N b -N a )

[0033] Calculate the instantaneous spatial position difference S between the plant protection UAV, the crop disturbance area and the deposited droplets in the direction of operation LM 、S LN and S MN ;

[0034] The distance between the plant protection drone and the crop disturbance area is S LM :

[0035] S LM =T×X LM

[0036] The distance between the plant protection drone and the droplet deposition is S LN :

[0037] S LN =T×X LN

[0038] The distance between the crop disturbance area and the droplet deposition is S MN :

[0039] S MN =T×X MN .

[0040] A method for detecting and analyzing droplet deposition, comprising the following steps:

[0041] S1, the three-camera image acquisition module collects frames of the plant protection drone's motion, frames of crop disturbance under the action of rotor airflow, and frames of droplet deposition;

[0042] S2. Use a calibration light source to synchronously calibrate the time axis of the three-camera frame;

[0043] S3. Use the spatial distribution calculation method of the three elements of plant protection drones, crop disturbance area and droplet deposition to obtain the instantaneous spatial position difference of the three elements;

[0044] S4. Explore the instantaneous spatial distribution patterns and droplet group deposition time of the three factors of plant protection UAV, crop disturbance area, and droplet deposition under different aircraft structure, nozzle position, flight speed, altitude load and other parameters;

[0045] S5. Provide a basis for optimizing the droplet deposition effect of pesticide application by plant protection drones.

[0046] In summary, the present invention has the following beneficial effects: the spatial distribution matching of plant protection UAVs, crop disturbance areas and droplet deposition and the droplet group deposition time are important factors determining the droplet deposition effect of rotor airflow transport. Increasing the instantaneous overlap of the crop disturbance area and the droplet deposition area can improve the transport capacity of the plant protection UAV rotor wind field for spraying droplets and the ability of droplets to penetrate the crop canopy. Shortening the droplet group deposition time can reduce the risk of drift and evaporation during the droplet deposition process, thereby improving the droplet deposition effect. By using the plant protection UAV spraying droplet deposition detection and analysis system, the instantaneous spatial distribution law and droplet group deposition time of the three factors of plant protection UAVs, crop disturbance areas and sedimentation droplets under different aircraft structure, nozzle position, flight speed, altitude, load and other parameter conditions are explored, providing a basis for optimizing the droplet deposition effect of plant protection UAV spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of a method for detecting and analyzing droplet deposition provided by an embodiment of the present invention;

[0048] Figure 2 A framework diagram of a droplet deposition detection and analysis system provided by an embodiment of the present invention;

[0049] Figure 3 A flowchart of a frame synchronization calibration method provided by an embodiment of the present invention;

[0050] Figure 4 This is a flow chart of a method for calculating the instantaneous spatial distribution of three elements: plant protection drones, crop disturbance areas, and droplet deposition, provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The present application is described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that those skilled in the art may make several variations and improvements without departing from the scope of the present application. These all fall within the scope of protection of the present application.

[0052] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0053] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0054] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0055] In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0056] The disclosed embodiments aim to address the immature technology for detecting and analyzing the instantaneous spatial positional relationship between plant protection drones, crop disturbance zones, and droplet deposition, which is a problem faced by plant protection drones due to their high flight speeds. In light of this, the disclosed embodiments propose a droplet deposition detection and analysis system to detect and analyze the instantaneous spatial distribution of plant protection drones, crop disturbance zones, and droplet deposition during field operations, providing a basis for the design of rotor and nozzle layouts for plant protection drones.

[0057] Please refer to Figure 1 , Figure 1 The framework diagram of the droplet deposition detection and analysis system described in the embodiment of the present disclosure is shown. Its structure includes: a three-camera image acquisition module, a droplet imaging board, a calibration light source, and an information processor;

[0058] The three-camera image acquisition module includes: side, upper, and lower image acquisition units; the side image acquisition unit is used to acquire frames of plant protection aircraft, the upper image acquisition unit is used to acquire frames of crop disturbance, and the lower image acquisition unit is used to acquire frames of droplet deposition. The droplet imaging board is used to acquire and image settled droplets. The calibration light source is used to calibrate the frame positions of the three-camera image acquisition module. The information processor sends control instructions to the calibration light source, side, upper, and lower image acquisition units, and collects the frame data sent back by the side, upper, and lower image acquisition units; the information processor performs synchronous calibration of the frames of each camera position, analyzes the instantaneous spatial distribution relationship of the unmanned aircraft, rotor airflow, and settled droplets, and detects the effect of the rotor airflow of the plant protection unmanned aircraft on the deposition and transportation of pesticide droplets.

[0059] Specifically, the three-camera image acquisition module includes: side, upper and lower image acquisition units; the acquisition frame rates of the side, upper and lower image acquisition units are the same, and the acquisition frame rate f≥30fps; the side, upper and lower image acquisition units are arranged in the same acquisition vertical plane, and the normal of the acquisition vertical plane is the direction of the plant protection UAV; the side image acquisition unit is arranged on one side of the route direction, with a height the same as the flight altitude of the plant protection UAV, and the acquisition field of view is horizontally facing the flight route, for collecting motion frames of the plant protection UAV; the upper image acquisition unit is arranged directly above the route, with the acquisition field of view vertically downward facing the flight route, for collecting crop disturbance frames under the action of rotor airflow; the lower image acquisition unit is arranged below the route, with the acquisition field of view vertically downward facing the droplet display board, for collecting droplet deposition frames. The lower camera can arrange multiple acquisition positions horizontally in a line in the acquisition vertical plane according to the requirements of droplet deposition detection and analysis.

[0060] Specifically, the droplet imaging board is located directly below the lower image acquisition unit and remains within the acquisition field of view. The height can be adjusted according to the growth of the target crop and measurement requirements. The acquisition surface of the droplet imaging board is upward, and multiple acquisition positions can be arranged horizontally in a line within the acquisition vertical plane according to the requirements of droplet deposition detection and analysis. The droplet imaging board can use water-sensitive test paper to image the settling droplets.

[0061] Specifically, the calibration light source uses a strong flash lamp to provide calibration frames for the collected continuous images, which are used to synchronously calibrate the frame time axis of the image collection unit of each camera position.

[0062] Specifically, the information processor sends control instructions to the calibration light source, side, upper and lower image acquisition units, and collects the frame data sent back by the side, upper and lower image acquisition units; the information processor performs synchronous calibration of the frames of each camera position, analyzes the instantaneous spatial distribution relationship of the unmanned aircraft, rotor airflow and settling droplets, and detects the effect of the rotor airflow of the plant protection unmanned aircraft on the deposition and transportation of pesticide droplets.

[0063] In the embodiment, the three-camera image acquisition method is as follows:

[0064] According to the planned flight route of the plant protection UAV, the acquisition vertical plane is determined; the three-camera image acquisition module and the droplet imaging board are arranged at the predetermined positions within the acquisition vertical plane, and the side, upper, and lower image acquisition units are opened synchronously to start image acquisition; the strong flash light of the calibration light source is used for exposure to provide calibration frames for the collected continuous images; the plant protection UAV is controlled to fly at a constant speed through the acquisition vertical plane according to the predetermined spraying operation parameters and flight route to complete the three-camera image acquisition.

[0065] In the embodiment, the frame synchronization calibration method is as follows:

[0066] Please refer to Figure 1 , Figure 1 A schematic diagram of the frame synchronization calibration method described in an embodiment of the present disclosure is shown.

[0067] Specifically, the three-camera image acquisition module respectively obtains images of plant protection aircraft, crop disturbance images, and droplet deposition images; arranges the continuous images of each camera in sequence in frames, and creates a frame sequence with the frame as the coordinate axis; finds the calibration frame of the calibration light source exposure from the frame sequence, and fixes the calibration frames of the frame sequence of each camera to the same frame through frame translation, and arranges them in parallel within the same frame coordinate axis.

[0068] In the embodiment, the instantaneous spatial distribution calculation method of the three elements of plant protection drones, crop disturbance area and droplet deposition is as follows:

[0069] Please refer to Figure 1 , Figure 1 A flow chart of the method for calculating the instantaneous spatial distribution of the three elements of the plant protection UAV, the crop disturbance area, and the droplet deposition according to the embodiment of the present disclosure is shown.

[0070] Specifically, the frame sequences of the synchronously calibrated plant protection aircraft image, crop disturbance image, and droplet deposition image are sorted in parallel, and the frame position of the calibrated frame corresponding to the frame coordinate axis is used as the reference frame position; the first and last frame positions of the three-factor imaging frames of the plant protection drone, rotor airflow, and droplet deposition are determined respectively; the position difference X of the above three factors is calculated. LM 、X LN and X MN Then, the instantaneous spatial position difference S of the three factors is solved according to the image acquisition frequency f and the forward speed V of the plant protection drone spraying operation LM 、S LN and S MN Further analyze the instantaneous spatial distribution patterns of the three factors of plant protection drones, crop disturbance areas, and falling droplets, as well as the droplet group deposition time;

[0071] Plant protection drone imaging frame: In the frame sequence acquired by the side image acquisition unit, the plant protection drone passes through the vertical plane from the beginning to the end of the frame, and the first and last frames are L a , L b ;

[0072] Crop disturbance imaging frame: In the frame sequence acquired by the upper image acquisition unit, all frames from the beginning of the crop disturbance vortex passing through the acquisition vertical plane to the complete passing through, the first and last frame positions of the frame are M a , M b ;

[0073] Droplet deposition imaging frame: In the frame sequence acquired by the lower image acquisition unit, all frames in the droplet imaging plate from the beginning of the appearance of droplets to the end of the increase of droplets, the first and last frame positions of the frame are N a , N b ;

[0074] The frame position difference between the plant protection UAV image frame and the crop disturbance image frame is X LM :

[0075]

[0076] The frame position difference between the image frame of the plant protection UAV and the image frame of the droplet deposition is X LN :

[0077]

[0078] The frame position difference between the crop disturbance imaging frame and the droplet deposition imaging frame is X MN :

[0079]

[0080] The image acquisition frequency is f, and the frame time difference is The forward speed of the plant protection drone during spraying operation is V;

[0081] The droplet group deposition time T N The time it takes for all frames to pass from the beginning of the appearance of droplets to the end of the increase in droplets in the droplet image plane.

[0082] T N =T×(N b -N a )

[0083] Calculate the instantaneous spatial position difference S between the plant protection UAV, the crop disturbance area and the deposited droplets in the direction of operation LM 、S LN and S MN ;

[0084] The distance between the plant protection drone and the crop disturbance area is S LM :

[0085] S LM =T×X LM

[0086] The distance between the plant protection drone and the droplet deposition is S LN :

[0087] S LN =T×X LN

[0088] The distance between the crop disturbance area and the droplet deposition is S MN :

[0089] S MN =T×X MN

[0090] The instantaneous spatial position difference S between the crop disturbance area and the deposited droplets in the direction of operation is calculated using the instantaneous spatial distribution calculation method of the three elements of the plant protection UAV, the crop disturbance area and the droplet deposition. LM 、S LN and S MN , position difference S LM 、S LN and S MN The lower the value, the higher the spatial overlap between the airflow of the plant protection drone rotor and the deposition of the pesticide droplets, and the better the transport effect. This is used as an indicator to test the effect of the airflow of the plant protection drone rotor on the deposition and transport of the pesticide droplets.

[0091] The present disclosure also provides a droplet deposition detection and analysis system, please refer to Figure 1 , Figure 1 The flowchart of the droplet deposition detection and analysis method described in the embodiment of the present disclosure is shown. The overall process mainly includes the following five steps:

[0092] S1, the three-camera image acquisition module collects frames of the plant protection drone's motion, frames of crop disturbance under the action of rotor airflow, and frames of droplet deposition;

[0093] S2. Use a calibration light source to synchronously calibrate the time axis of the three-camera frame;

[0094] S3. Use the spatial distribution calculation method of the three elements of plant protection drones, crop disturbance area and droplet deposition to obtain the instantaneous spatial position difference of the three elements;

[0095] S4. Explore the instantaneous spatial distribution patterns and droplet group deposition time of the three factors of plant protection UAV, crop disturbance area, and droplet deposition under different aircraft structure, nozzle position, flight speed, altitude load and other parameters;

[0096] S5. Provide a basis for optimizing the droplet deposition effect of pesticide application by plant protection drones.

[0097] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A droplet deposition detection and analysis system, characterized in that: The system includes: a three-camera image acquisition module, a fog droplet imaging board, a calibration light source, and an information processor; The three-camera image acquisition module includes: side, upper, and lower image acquisition units; the side image acquisition unit is used to acquire plant protection aircraft frames; the upper image acquisition unit is used to acquire crop disturbance frames; and the lower image acquisition unit is used to acquire droplet deposition frames. The droplet imaging plate is used to collect and image the settling droplets; The calibration light source is used to calibrate the frame positions of the three-camera image acquisition module; The information processor is used to send control instructions to the calibration light source, lateral, upper, and lower image acquisition units, and collect the frame data sent back by the lateral, upper, and lower image acquisition units; simultaneously perform synchronous calibration of the frames of each camera position, analyze the instantaneous spatial distribution relationship between the plant protection drone, the crop disturbance area, and the droplet deposition, and detect the effect of the rotor airflow of the plant protection drone on the deposition and transportation of the spray droplets; The process of analyzing the instantaneous spatial distribution of plant protection drones, crop disturbance areas, and droplet deposition is as follows: The frame sequences of the synchronously calibrated plant protection aircraft image, crop disturbance image, and droplet deposition image are sorted in parallel, and the frame position of the calibrated frame corresponding to the frame coordinate axis is used as the reference frame position; the first and last frame positions of the three-factor imaging frames of the plant protection unmanned aircraft, rotor airflow, and droplet deposition are determined respectively; the position difference X of the above three factors is calculated. LM 、X LN and X MN Then, the instantaneous spatial position difference S of the three factors is solved according to the image acquisition frequency f and the forward speed V of the plant protection drone spraying operation LM 、S LN and S MN Further analyze the instantaneous spatial distribution patterns of the three factors of plant protection drones, crop disturbance areas, and falling droplets, as well as the droplet group deposition time; Image frames of plant protection drone: In the image sequence acquired by the side image acquisition unit, all the frames from the beginning of the plant protection drone passing through the acquisition vertical plane to the complete passing through, the first and last frame positions of the frame are L a , L b ; Crop disturbance imaging frame: In the frame sequence acquired by the upper image acquisition unit, all frames from the beginning of the crop disturbance vortex passing through the acquisition vertical plane to the complete passing through, the first and last frame positions of the frame are M a , M b ; Droplet deposition imaging frame: In the frame sequence acquired by the lower image acquisition unit, all frames in the droplet imaging plate from the beginning of the appearance of droplets to the end of the increase of droplets, the first and last frame positions of the frame are N a , N b ; The frame position difference between the plant protection UAV image frame and the crop disturbance image frame is X LM : The frame position difference between the image frame of the plant protection UAV and the image frame of the droplet deposition is X LN : The frame position difference between the crop disturbance imaging frame and the droplet deposition imaging frame is X MN : The image acquisition frequency is f, and the frame time difference is The droplet group deposition time T N The time it takes for all frames to pass from the beginning of the appearance of fog droplets to the end of the increase in fog droplets in the fog image plane. T N =T×(N b -N a ) Calculate the instantaneous spatial position difference S between the plant protection UAV, the crop disturbance area and the deposited droplets in the direction of operation LM 、S LN and S MN .

2. A droplet deposition detection and analysis system according to claim 1, characterized in that: The acquisition frame rates of the lateral, superior, and inferior image acquisition units are the same; the lateral, superior, and inferior image acquisition units are arranged in the same acquisition vertical plane, and the normal direction of the acquisition vertical plane is the direction of the plant protection unmanned aircraft; The side image acquisition unit is arranged on one side of the flight direction, at the same height as the flight altitude of the plant protection UAV, with the acquisition field of view facing the flight route horizontally, and is used to capture motion frames of the plant protection UAV; The upper image acquisition unit is arranged directly above the flight path, with a capture field of view vertically downward toward the flight path, for capturing frames of crop disturbance caused by the rotor airflow; The lower image acquisition unit is arranged below the flight path, with its acquisition field of view pointing vertically downward toward the droplet imaging board, for acquiring droplet deposition frames.

3. The droplet deposition detection and analysis system according to claim 1, characterized in that: The droplet imaging board is located directly below the lower image acquisition unit; the droplet imaging board has an acquisition surface facing upward, and can arrange multiple acquisition positions horizontally in a line within the acquisition vertical plane according to the requirements of droplet deposition detection and analysis.

4. The droplet deposition detection and analysis system according to claim 1, characterized in that: The droplet imaging plate can use water-sensitive test paper to image the settling droplets.

5. The droplet deposition detection and analysis system according to claim 1, characterized in that: The process of calibrating the frame position of the three-camera image acquisition module is as follows: The three-camera image acquisition module respectively obtains images of plant protection aircraft, images of crop disturbance, and images of droplet deposition; arranges the continuous images of the three cameras in sequence in units of frames, and creates a frame sequence with the frames as coordinate axes; finds calibration frames for calibrated light source exposure from the frame sequence, and fixes the calibration frames of the frame sequences of each camera to the same frame through frame translation, and arranges them in parallel within the same frame coordinate axis.

6. A method for detecting and analyzing droplet deposition, characterized in that: The method is used to implement the droplet deposition detection and analysis system according to any one of claims 1 to 5, and the method comprises the following steps: S1, the three-camera image acquisition module collects frames of the plant protection drone's motion, frames of crop disturbance under the action of rotor airflow, and frames of droplet deposition; S2. Use a calibration light source to synchronously calibrate the time axis of the three-camera frame; S3. Use the spatial distribution calculation method of the three elements of plant protection drones, crop disturbance area and droplet deposition to obtain the instantaneous spatial position difference of the three elements; S4. Explore the instantaneous spatial distribution patterns and droplet group deposition time of the three factors of plant protection UAV, crop disturbance area, and droplet deposition under different aircraft structure, nozzle position, flight speed, and altitude load parameters; S5. Provide a basis for optimizing the droplet deposition effect of pesticide application by plant protection drones.

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