A real-time diagnosis and correction method and system for plant protection spraying operation parameters

Abstract

This invention relates to the field of intelligent agricultural spraying technology, and discloses a method and system for real-time diagnosis and correction of crop protection spraying operation parameters. The key technical points are: identification of crop disturbance zones; identification of droplet deposition zones; calculation of the horizontal coordinates of the geometric center points of the crop disturbance zone and the droplet deposition zone; and calculation of the distance between the geometric center points of the crop disturbance zone and the droplet deposition zone. L The overlap ratio between crop disturbance zone and droplet deposition zone U ; through the job quality function f ( L , U Reduce the distance between geometric center points L and increase the overlap ratio U This enhances the transport capacity of the spray droplets by the rotor wind field of the agricultural drone, improves the penetration and adsorption capacity of the spray droplets into the crop canopy, and ensures the quality of the operation. Finally, dynamic load force... F As a variable, with work efficiency P As boundary conditions, with the job quality function f ( L , U To optimize the target, the flight operation parameters of the agricultural drone are adjusted throughout the entire process to ensure the stable application quality of pesticides throughout the entire operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent agricultural pesticide application, in particular to a real-time diagnosis and correction method and system for plant protection spraying operation parameters. BACKGROUND

[0002] In agricultural aerial pesticide application, the flight speed, flight height and spraying flow rate of the plant protection unmanned aerial vehicle are important working parameters affecting the pesticide application quality. During the process of spraying pesticide droplets from the nozzle to the crop canopy, the rotor airflow of the plant protection unmanned aerial vehicle plays a role in transporting droplets, disturbing the canopy and promoting the adhesion of droplets. Therefore, improving the spatial coincidence ratio of the rotor airflow of the plant protection unmanned aerial vehicle and the settled droplets can effectively improve the pesticide application quality.

[0003] In the prior art, the plant protection unmanned aerial vehicle is usually flown at a constant speed and height. However, as the pesticide liquid decreases and the natural wind changes during the pesticide application process, the rotor speed of the plant protection unmanned aerial vehicle flown at a constant speed and height changes, which causes the matching relationship between the rotor airflow of the plant protection unmanned aerial vehicle and the deposition area of the spraying droplets to deviate, thereby reducing the pesticide application quality.

[0004] Therefore, the present application provides a real-time diagnosis and correction method and system for plant protection spraying operation parameters, which improves the above technical problems. SUMMARY

[0005] The present application aims to solve the problems of the prior art and provides a real-time diagnosis and correction method and system for plant protection spraying operation parameters. The present application uses dynamic load force as a variable, operation efficiency as a boundary condition, and operation quality function as a searching target to correct the flight operation parameters of the plant protection unmanned aerial vehicle throughout the process and stabilize the pesticide application quality throughout the operation process of the plant protection unmanned aerial vehicle. F P The present application aims to solve the problems of the prior art and provides a real-time diagnosis and correction method and system for plant protection spraying operation parameters. The present application uses dynamic load force as a variable, operation efficiency as a boundary condition, and operation quality function as a searching target to correct the flight operation parameters of the plant protection unmanned aerial vehicle throughout the process and stabilize the pesticide application quality throughout the operation process of the plant protection unmanned aerial vehicle. f L U

[0006] The above technical problems of the present application are solved by the following technical scheme: a real-time diagnosis and correction method and system for plant protection spraying operation parameters, comprising the following steps:

[0007] S1, identifying the crop disturbance area;

[0008] S2, identifying the droplet deposition area;

[0009] S3, calculating the horizontal coordinates of the geometric center points of the crop disturbance area and the droplet deposition area;

[0010] S4, calculating the distance between the geometric center points of the crop disturbance area and the droplet deposition area L ​​​​The proportion of the overlap between the crop disturbance area and the mist deposition area U ;

[0011] S5, taking the dynamic load force as a variable, taking the operation efficiency as a boundary condition, taking the operation quality function F ( P , f ) as an optimization target, and correcting the flight operation parameters of the plant protection unmanned aerial vehicle throughout the process. L U As a preferred technical solution of the present application, the crop disturbance area identification method is:

[0012] First, the point cloud information of the crop canopy under the plant protection unmanned aerial vehicle is detected by using a laser radar sensor; then, the point cloud information of the crop canopy under the continuous adjacent acquisition frames is subjected to difference operation, the height change Ah of the point cloud at the same horizontal position of the adjacent frames is calculated; when the Ah value is greater than a preset threshold value, it is judged that the crop disturbance area boundary point coordinates

[0013] are determined. Then, the boundary point cloud is fitted to identify the range of the crop disturbance area.

[0014] As a preferred technical solution of the present application, the process of performing difference operation on the point cloud information of the crop canopy under the continuous adjacent acquisition frames is: considering the forward motion state of the plant protection unmanned aerial vehicle, the scanning point clouds at different times are not in the same coordinate system; therefore, let the point cloud at time t be D t , the spatial coordinates of which are , the point cloud of the adjacent frame is D t+k , D t+k is converted to the coordinate system corresponding to D t , k is the time frame difference value, the height change Ah of the point cloud of the adjacent frames at the same horizontal position is calculated, and the calculation formula is:

[0015] .

[0016] As a preferred technical solution of the present application, the mist deposition area identification method is:

[0017] First, the temperature information and the measurement area position information of the crop canopy under the plant protection unmanned aerial vehicle are detected by using an infrared sensor;

[0018] Since the mist deposition changes the temperature of the deposition area after being deposited to the canopy, a regional temperature gradient is formed; therefore, the mist deposition area boundary range is identified according to the temperature gradient line, then the temperature information and the measurement area position information are subjected to spatial matching, and are subjected to unified coordinate system conversion with the crop disturbance area, and the mist deposition area boundary point coordinates are extracted.

[0019] ​As a preferred technical solution of the present application, the boundary point coordinates of the crop disturbance area are , and the horizontal coordinate of the geometric center point of the crop disturbance area is ;

[0020] The calculation formula of the horizontal coordinate of the geometric center point of the crop disturbance area is:

[0021] .

[0022] As a preferred technical solution of the present application, the boundary point coordinates of the fog droplet deposition area are , and the horizontal coordinate of the geometric center point of the fog droplet deposition area is ;

[0023] The calculation formula of the horizontal coordinate of the geometric center point of the fog droplet deposition area is:

[0024] .

[0025] As a preferred technical solution of the present application, the distance L between the geometric center point of the crop disturbance area and the geometric center point of the fog droplet deposition area is calculated by the formula:

[0026] The horizontal coordinate of the geometric center point of the crop disturbance area is , the horizontal coordinate of the geometric center point of the fog droplet deposition area is , the installation position distance of the laser radar sensor and the thermal infrared sensor is C , and the height of the distance between the plant protection unmanned aerial vehicle and the crop canopy is H.

[0027] .

[0028] As a preferred technical solution of the present application, the overlap ratio U between the crop disturbance area and the fog droplet deposition area is calculated by the formula:

[0029] ;

[0030] In the formula, represents the area of the disturbance area, represents the area of the fog droplet deposition area, represents the area of the combined area.

[0031] As a preferred technical solution of the present application, the dynamic load force F is the resultant force of the total weight of the unmanned aerial vehicle F M and the natural wind force F W in the whole process of the plant protection unmanned aerial vehicle operation; wherein the total weight of the unmanned aerial vehicle F MThe random drug-carrying liquid spray gradually reduces, and the natural wind power F W The dynamic load force changes with the environmental wind F The calculation formula is:

[0032] ;

[0033] The operation quality function f ( L , U ) is a function of the distance between the geometric center points of the crop disturbance area and the fog drop deposition area L and the area overlap ratio U The calculation formula of the operation quality function f ( L , U ) is:

[0034] ;

[0035] In the formula, C 1 and C 2 are weight coefficients; the operation quality function f ( L , U ) is positively correlated with the area overlap ratio U and is inversely proportional to the distance between the geometric center points of the two areas L ;

[0036] The operation efficiency P is the operation area of the plant protection unmanned aerial vehicle per unit time; the calculation formula of the operation efficiency P is:

[0037] ;

[0038] In the formula, V represents the flight speed of the plant protection unmanned aerial vehicle; K represents the spray width.

[0039] A plant protection spraying operation parameter real-time diagnosis and correction system, the system comprises: gas-mist information acquisition module, gas-mist distribution information processing module, on-board information acquisition module, operation parameter correction module;

[0040] The gas-mist information acquisition module is composed of a laser radar sensor and an infrared sensor, which is used to obtain the physical information of the crop disturbance area and the fog drop deposition area;

[0041] The gas-mist distribution information processing module is used to analyze the distribution range and the geometric center position of the crop disturbance area and the fog drop deposition area, and obtain the relative position of the crop disturbance area and the fog drop deposition area;

[0042] The on-board information acquisition module comprises an on-board flight control system and an on-board sensing system, and is used for acquiring the state information of the plant protection unmanned aerial vehicle.

[0043] The operation parameter correction module is used for correcting the flight operation parameters of the plant protection unmanned aerial vehicle in the whole process.

[0044] In summary, the present application has the following advantages:

[0045] Firstly, the operation quality function f ( L , U ) is a function of the geometric center point distance L between the crop disturbance area and the fog drop deposition area and the area overlap ratio U , so as to reduce the geometric center point distance L and improve the overlap ratio U , thereby enhancing the transport capacity of the rotor wind field of the plant protection unmanned aerial vehicle to the sprayed fog drops, improving the crop canopy penetration capacity and adsorption capacity of the lifted fog drops, and ensuring the operation quality.

[0046] Secondly, the dynamic load force F is used as a variable, the operation efficiency P is used as a boundary condition, and the operation quality function f ( L , U ) is used as an optimization target, so as to correct the flight operation parameters of the plant protection unmanned aerial vehicle in the whole process, and stabilize and ensure the pesticide application quality in the whole process of the plant protection unmanned aerial vehicle operation. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 A flow chart of a plant protection spraying operation parameter real-time diagnosis and correction method provided by an embodiment of the present application is shown in the figure;

[0048] Figure 2 A framework diagram of a plant protection spraying operation parameter real-time diagnosis and correction system provided by an embodiment of the present application is shown in the figure;

[0049] Figure 3 An adjacent frame point cloud height change graph provided by an embodiment of the present application is shown in the figure;

[0050] Figure 4 A crop disturbance area schematic diagram provided by an embodiment of the present application is shown in the figure;

[0051] Figure 5 A fog drop deposition area schematic diagram provided by an embodiment of the present application is shown in the figure;

[0052] Figure 6 A spliced area schematic diagram of the crop disturbance area and the fog drop deposition area provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0053] The present application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made. These are within the scope of protection of the present application.

[0054] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0055] It should be noted that, if there is no conflict, each feature in the embodiments of the present application can be combined with each other, and all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the "first", "second", "third" and the like used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0056] Unless otherwise defined, all technical and scientific terms used in the specification have the same meaning as understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not used to limit the present application. The term "and / or" used in the specification includes any and all combinations of one or more related listed items.

[0057] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict between them.

[0058] The embodiments of the present disclosure aim to solve the problem that the matching relationship between the rotor wind field of the plant protection unmanned aerial vehicle and the spray droplet deposition area deviates, and the application quality is reduced. In view of this, the present disclosure proposes a plant protection spraying operation parameter real-time diagnosis and correction method and system, which takes the dynamic load force F as a variable, takes the operation efficiency P as a boundary condition, takes the operation quality function f ( L , U ) as the optimization target, and corrects the flight operation parameters of the plant protection unmanned aerial vehicle throughout the process, so as to stabilize and guarantee the application quality of the plant protection unmanned aerial vehicle throughout the operation process.

[0059] Please refer to Figure 1 ,Figure 1 A flow chart of the real-time diagnosis and correction method for plant protection spraying operation parameters is shown. The overall process mainly includes the following 5 steps:

[0060] S1: Crop disturbance area identification.

[0061] In the traditional regional contour identification method, the height difference of the crop disturbance area is often used as the identification element, which cannot avoid the interference caused by the height difference of the crop growth and the surface environment.

[0062] Therefore, the dynamic fluctuation change in the vertical direction of the boundary canopy of the crop disturbance area needs to be considered, such as Figure 3 As shown: during the advancing process of the crop disturbance area, the boundary position canopy has dynamic fluctuation change in the vertical direction during the airflow depression process, the crop canopy height information in front of the advancing direction decreases with the airflow depression, and the crop canopy height behind the advancing direction increases with the airflow separation and restores the original height.

[0063] Specifically, S11, the point cloud information (spatial coordinate information of the crop canopy) of the crop canopy under the plant protection unmanned aerial vehicle is detected by using the laser radar sensor.

[0064] S12, difference operation is performed on the point cloud information of the crop canopy under the continuous adjacent collection frames, and the height change Ah of the point cloud at the same horizontal position is calculated.

[0065] When the Ah value is greater than the preset threshold value (the preset threshold value is the height change threshold value of the crop canopy after the wing airflow depression. The setting of the preset threshold value is determined by the stem physical characteristics corresponding to different crop varieties and different growth periods), it is judged that the crop disturbance area boundary point coordinate Then, the crop disturbance area range is identified by fitting the boundary point cloud, as shown in Figure 4 .

[0066] The difference operation process of the point cloud information of the crop canopy under the continuous adjacent collection frames is: considering the advancing motion state of the plant protection unmanned aerial vehicle, the scanning point clouds at different times are not in the same coordinate system; therefore, let the point cloud at time t be D t , the spatial coordinates are , the adjacent frame point cloud is D t+k , D t+k is converted to the coordinate system corresponding to D t , k is the time frame difference value, the height change Ah of the point cloud at the same horizontal position is calculated, and the calculation formula is as follows:

[0067] .

[0068] S2: Identification of fog droplet deposition area.

[0069] S21, detecting temperature information of a crop canopy under the plant protection unmanned aerial vehicle and measuring regional position information by using an infrared sensor.

[0070] S22, forming a regional temperature difference gradient due to the change of the temperature of the deposition area after the fog droplets are deposited to the canopy; thus, the boundary range of the fog droplet deposition area is identified according to a temperature gradient line, and then the temperature information and the measured regional position information are spatially matched and converted into a unified coordinate system with the crop disturbance area, so as to extract the boundary point coordinates of the fog droplet deposition area , as shown in Figure 5 .

[0071] S3: calculating the horizontal coordinates of the geometric center points of the crop disturbance area and the fog droplet deposition area.

[0072] S31, taking the boundary point coordinates of the crop disturbance area as , and taking the horizontal coordinates of the geometric center point of the crop disturbance area as .

[0073] The calculation formula of the horizontal coordinates of the geometric center point of the crop disturbance area is as follows:

[0074] .

[0075] S32, taking the boundary point coordinates of the fog droplet deposition area as , and taking the horizontal coordinates of the geometric center point of the fog droplet deposition area as .

[0076] The calculation formula of the horizontal coordinates of the geometric center point of the fog droplet deposition area is as follows:

[0077] .

[0078] S4: calculating the distance L between the geometric center points of the crop disturbance area and the fog droplet deposition area and the overlapping ratio U between the crop disturbance area and the fog droplet deposition area.

[0079] Specifically, the distance L between the geometric center points of the crop disturbance area and the fog droplet deposition area is calculated by using a spatial position calculation method based on the plant protection unmanned aerial vehicle state information, and the overlapping ratio U between the crop disturbance area and the fog droplet deposition area is calculated by using a graphic processing software.

[0080] The plant protection unmanned aerial vehicle state information includes: flight height H , flight speed V , spraying flow rate Q and pose information.

[0081] S41, taking the horizontal coordinates of the geometric center point of the crop disturbance area as The horizontal coordinate of the geometric center point of the droplet deposition area is The installation position interval of the laser radar sensor and the thermal infrared sensor is C The interval height between the crop protection unmanned aerial vehicle and the crop canopy is H;

[0082] ;

[0083] S42, in the unified spatial coordinate system, the boundary point coordinates of the horizontal plane dimension of the spliced area of the crop disturbance area and the droplet deposition area are extracted , as shown in Figure 6 ; the convex polygon area calculation method is used to calculate the area of the crop disturbance area , the area of the droplet deposition area , and the area of the spliced area .

[0084] The area of the spliced area The calculation formula is as follows:

[0085] ;

[0086] The overlap ratio of the crop disturbance area and the droplet deposition area U The calculation formula is as follows:

[0087] ;

[0088] S5: taking the dynamic load force F as a variable, taking the operation efficiency P as a boundary condition, and taking the operation quality function f ( L , U ) as an optimization target, the flight operation parameters of the crop protection unmanned aerial vehicle are corrected throughout the process.

[0089] S51, since the initial operation parameters (flight height H, flight speed V, and spraying flow Q) have good operation quality in the initial operation stage, but with the changes of the dynamic load force F and the following changes of the rotor wind field, the initial operation parameters cannot guarantee the matching relationship between the crop disturbance area and the droplet deposition area, and the spraying quality is reduced;

[0090] Therefore, the dynamic load force F is the resultant force of the total gravity F M of the unmanned aerial vehicle and the natural wind force F W ; wherein the total gravity F M of the unmanned aerial vehicle gradually decreases with the spraying of the random pesticide liquid, and the natural wind force F WChanges with the ambient wind;

[0091] Dynamic load force F The formula is:

[0092] ;

[0093] Changes with the total weight of the unmanned aerial vehicle F M The rotor speed will decrease, the downwash flow state will change, and the natural wind force will change F W The downwash flow will also change.

[0094] S52, the operation quality function f ( L , U ) is a function of the distance between the geometric center points of the crop disturbance area and the droplet deposition area L and the area overlap ratio U Reducing the geometric center point distance L and increasing the overlap ratio U can enhance the transport capacity of the rotor wind field of the plant protection unmanned aerial vehicle for sprayed droplets, improve the crop canopy penetration and adsorption capacity of the lifted droplets, and thus ensure the operation quality. By obtaining the matching relationship between the crop disturbance area and the droplet deposition area in real time, when the matching relationship changes, the flight speed is reduced to stabilize the rotor downwash wind field, improve the matching degree of the above two areas, and thus improve the operation quality.

[0095] The operation quality function f ( L , U ) is calculated as follows:

[0096] ;

[0097] In the formula, C 1 and C 2 are weight coefficients; the operation quality function f ( L , U ) is positively correlated with the area overlap ratio U and inversely proportional to the distance between the geometric center points of the two areas L .

[0098] Reducing the geometric center point distance L and increasing the overlap ratio U can enhance the transport capacity of the rotor wind field of the plant protection unmanned aerial vehicle for sprayed droplets, improve the crop canopy penetration and adsorption capacity of the lifted droplets, and thus ensure the operation quality. By obtaining the matching relationship between the crop disturbance area and the droplet deposition area in real time, when the matching relationship changes, the flight speed is reduced to stabilize the rotor downwash wind field, improve the matching degree of the above two areas, and thus improve the operation quality.

[0099] As pesticide droplets travel from the nozzle to the crop canopy, the rotor airflow of the agricultural drone plays a crucial role in transporting the droplets, disturbing the canopy, and promoting droplet adhesion. Therefore, if droplets detach from the rotor airflow during their descent, the risk of droplet loss increases. Furthermore, without airflow disturbance upon reaching the canopy, droplets will accumulate on the upper layer, unable to penetrate deeper. This accumulation can lead to larger droplets forming and falling to the ground. Therefore, airflow disturbance allows smaller droplets to be sprayed onto the upper canopy, improving their adhesion to crop leaves. Simultaneously, airflow disturbance also disturbs the crop leaves, increasing the adhesion range on both the front and back of the leaves. Droplets adhering to the canopy are then pressurized by the airflow and penetrate into the canopy, thereby enhancing the canopy's penetration and adsorption capacity.

[0100] S53. Since reducing work speed will reduce work efficiency, therefore work efficiency is considered... P As boundary conditions, adjust the flight speed within a certain range of operational efficiency. V .

[0101] Work efficiency P The area covered by agricultural drones per unit time.

[0102] Work efficiency P The calculation formula is:

[0103] ;

[0104] In the formula, V This indicates the flight speed of the agricultural drone (based on existing test data, the flight speed range is typically 2-5 m / s). K Indicates the spray width.

[0105] In summary, during the operation of agricultural drones, dynamic load force is crucial. F As a variable, with work efficiency P As boundary conditions, with the job quality function f ( L , U To optimize the target, the flight operation parameters of the agricultural drone are adjusted throughout the entire process to ensure the stable application quality of pesticides throughout the entire operation.

[0106] This disclosure also proposes a real-time diagnosis and correction system for crop protection spraying operation parameters. Please refer to [link / reference]. Figure 2 , Figure 2 The diagram shows a framework of the real-time diagnosis and correction system for plant protection spraying operation parameters according to an embodiment of this disclosure. It mainly consists of the following components: a mist information acquisition module, a mist distribution information processing module, an airborne information acquisition module, and an operation parameter correction module.

[0107] The gas-mist information acquisition module is composed of a laser radar sensor and an infrared sensor, and is used to acquire physical information of the crop disturbance area and the mist deposition area. The physical information includes point cloud information (spatial coordinate information of the measured target), temperature information, and measurement area position information. The laser radar sensor and the infrared sensor are arranged at intervals at the tail of the plant protection unmanned aerial vehicle, and the detection field angles of both are installed downward;

[0108] The gas-mist distribution information processing module is used to analyze the distribution range and the geometric center position of the crop disturbance area and the mist deposition area, and to acquire the relative position of the crop disturbance area and the mist deposition area.

[0109] The airborne information acquisition module includes an airborne flight control system and an airborne sensing system, and is used to acquire state information of the plant protection unmanned aerial vehicle. The airborne sensing system includes an airborne IMU pose sensor, an RTK high-precision positioning system, and a millimeter wave radar.

[0110] The operation parameter correction module is used to correct the flight operation parameters of the plant protection unmanned aerial vehicle in the whole process.

[0111] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary technical personnel in the technical field, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A real-time diagnosis and correction method for plant protection spraying operation parameters, characterized in that, The method comprises the following steps: S1, crop disturbance area identification; S2, fog droplet deposition area identification; S3, calculation of horizontal coordinate of geometric center point of crop disturbance area and fog droplet deposition area; S4, calculating a distance between a geometric center point of the crop disturbance zone and a geometric center point of the mist deposition zone L and a proportion of overlap between the crop disturbance zone and the mist deposition zone U ; S5, dynamic load force F as a variable, job efficiency P as a boundary condition, job quality function f ( L , U ) as the optimization target, the flight operation parameters of the plant protection unmanned aerial vehicle are corrected throughout the process. a distance between a geometric center point of the crop disturbance zone and a geometric center point of the droplet deposition zone L The formula for calculating the distance is: The horizontal coordinate of the geometric center point of the crop disturbance area is x , the horizontal coordinate of the geometric center point of the droplet deposition area is x , the installation position interval of the laser radar sensor and the thermal infrared sensor is d C , and the height of the distance between the plant protection unmanned aerial vehicle and the crop canopy is H. ； The ratio of overlap between the object perturbation zone and the droplet deposition zone U The formula for calculating the ratio of overlap is: ； wherein represents the area of the perturbation zone, represents the area of the droplet deposition zone, represents the area of the patching zone; The dynamic load force F is the resultant force of the total weight of the unmanned aerial vehicle F M and the natural wind force F W ; wherein the total weight of the unmanned aerial vehicle F M gradually decreases with the random liquid spraying, and the natural wind force F W changes with the environmental wind; and a calculation formula of the dynamic load force F is: ； The job quality function f ( L , U ) is a function of the distance between the geometric center points of the crop disturbance area and the droplet deposition area L and the area overlap ratio U ; the calculation formula of the job quality function f ( L , U ) is: ； In the formula, C 1 and C 2 represents the weighting coefficient; job quality function f ( L , U (overlap ratio with region) U It is positively correlated with the distance between the geometric centers of the two regions. L Inversely proportional; The work efficiency P The work efficiency P The work efficiency ； In the formula, V represents the flight speed of the plant protection unmanned aerial vehicle; K represents the spraying width; The crop disturbance area identification method is: First, the point cloud information of the crop canopy under the unmanned aerial vehicle is detected by using a laser radar sensor; then, the point cloud information of the crop canopy under the continuous adjacent frames is subjected to difference operation, and the height change Δh of the point cloud of the same horizontal position adjacent frames is calculated; when the value of Δh is greater than a preset threshold value, it is judged that the boundary point coordinates of the crop disturbance area Then, the boundary point cloud is fitted to identify the range of the crop disturbance area. The process of difference operation on the point cloud information of the crop canopy under the two continuous adjacent acquisition frames is: considering the forward motion state of the plant protection unmanned aerial vehicle, the scanning point clouds at different times are not in the same coordinate system; therefore, the point cloud at time t is D t , the spatial coordinates of which are , the point cloud of the adjacent frame is D t+k , D t+k is converted to the coordinate system corresponding to D t , k is the time frame difference value, the height change △h of the point clouds of the adjacent frames at the same horizontal position is calculated, and the calculation formula is: ； The fog droplet deposition area identification method is: First, the temperature information of the crop canopy under the plant protection unmanned aerial vehicle is detected by using an infrared sensor, and the position information of the measurement area is measured; Since the temperature of the deposition area is changed by the deposition of the fog droplets, a regional temperature gradient is formed. Therefore, the boundary range of the fog droplet deposition area is identified according to the temperature gradient line, and then the temperature information and the position information of the measurement area are matched in space, and are converted into a unified coordinate system with the crop disturbance area, so as to extract the boundary point coordinates of the fog droplet deposition area ; The boundary point coordinates of the crop disturbance area are , and the horizontal coordinate of the geometric center point of the crop disturbance area is ; The calculation formula of the horizontal coordinate of the geometric center point of the crop disturbance area is: ； The horizontal coordinate of the geometric center point of the mist drop deposition area is , and the horizontal coordinate of the geometric center point of the mist drop deposition area is ; The calculation formula of the horizontal coordinate of the geometric center point of the fog droplet deposition area is: 。 2. A real-time diagnosis and correction system for plant protection spraying operation parameters, characterized in that, The system is used to realize the plant protection spraying operation parameter real-time diagnosis and correction method of claim 1, and the system comprises: a gas-mist information acquisition module, a gas-mist distribution information processing module, an airborne information acquisition module, and an operation parameter correction module. The gas-mist information acquisition module is composed of a laser radar sensor and an infrared sensor, and is used to acquire physical information of the crop disturbance area and the fog droplet deposition area. The gas-mist distribution information processing module is used to analyze the distribution range and the geometric center position of the crop disturbance area and the fog droplet deposition area, and to acquire the relative position of the crop disturbance area and the fog droplet deposition area. The airborne information acquisition module comprises an airborne flight control system and an airborne sensing system, and is used to acquire state information of the plant protection unmanned aerial vehicle. The operation parameter correction module is used to correct the flight operation parameters of the plant protection unmanned aerial vehicle in the whole process.

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