Precise targeting spraying method, device and equipment for plant protection unmanned aerial vehicle and medium

Abstract

The invention discloses an accurate targeting spraying method, device and equipment for a plant protection unmanned aerial vehicle and a medium. The method comprises the steps that the unmanned aerial vehicle carrying an RTK module is used for measuring geographic coordinates of boundary points of an operation area; determining the boundary of the operation area, and calculating the geographic coordinate of each operation cell; the ground control terminal plans the operation route of the unmanned aerial vehicle according to the geographic coordinates of the central points of the operation cells; the unmanned aerial vehicle carries a spraying operation module to carry out spraying operation according to a planned operation route, and when spraying operation is carried out in an edge operation area located in an operation area, spraying parameters are adjusted in a self-adaptive mode according to the environment wind speed and the relative height between spraying crops, and it is ensured that sprayed pesticide is within the boundary range of the operation area. According to the invention, the problems of tedious steps, large measurement workload, low efficiency, difficulty in entering a target area and the like in point-by-point measurement can be effectively solved, and the sprayed pesticide can be ensured not to drift out of a safety boundary of an operation area.

Description

Technical Field

[0001] The present invention relates to the technical field of precision spraying by unmanned aerial vehicles (UAVs), and in particular to a method, device, equipment and medium for precision target spraying by a plant protection UAV. Background Art

[0002] At present, the main operation mode of plant protection UAVs is still blanket spraying, and precision target spraying is still in the research stage. In the research on precision target spraying, the geographic coordinates of each operation area are still obtained by manual measurement, including the following steps: (1) Use handheld RTK (Real-time kinematic, real-time dynamic carrier phase difference technology) to measure the geographic coordinates of several boundary points in the operation area; (2) Determine the width of the operation area (target area) according to the spraying range of the plant protection UAV, and set the length of the area; (3) Divide the entire operation area into several operation areas according to the spraying operation route of the plant protection UAV; (4) Use RTK to accurately measure and record the geographic coordinates of the center of each operation area; (5) When the plant protection UAV implements the spraying operation, it controls the opening and closing of the plant protection UAV spraying system according to the occurrence of diseases and weeds in each operation area, and combines the real-time acquired geographic coordinate information of each operation area to achieve precision target spraying.

[0003] However, the method of obtaining the geographic coordinates of the work area by manual measurement cannot be applied to actual operations. Especially when the work area is large, the number of divided work areas is large, or the work area is an inaccessible area such as a paddy field, this method will have many measurement steps, a large measurement workload, low efficiency, and difficulty in obtaining the geographic coordinates of the marking points. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides a method for precise target spraying by a plant protection UAV, a corresponding device, an electronic device and a computer-readable storage medium.

[0005] The technical solution of the present invention to solve the above technical problems is:

[0006] A method for precise target spraying by a plant protection drone comprises the following steps:

[0007] Step S1: Use a drone equipped with an RTK module to measure the geographic coordinates of the boundary points of the work area; determine the boundaries of the work area, divide the work area into multiple work areas according to the pre-set drone spray width and grid length, and calculate the geographic coordinates of each work area;

[0008] Step S2: The obtained geographical coordinates of the center points of each operation cell are sent to the ground control terminal, and the ground control terminal plans the operation route of the UAV according to the geographical coordinates of the center points of each operation cell, and sends the planned operation route to the UAV;

[0009] Step S3: The drone equipped with the spraying operation module performs spraying operations according to the planned operation route, and when performing spraying operations in the edge operation area of ​​the operation area, the spraying parameters are adaptively adjusted according to the ambient wind speed and the relative height between the wind speed and the sprayed crops to ensure that the sprayed pesticides are within the boundary of the operation area.

[0010] Preferably, in step S1, the steps for obtaining the geographical coordinates of each operating area are:

[0011] Step S101: determine the boundary of the operation area, and calculate the azimuth and geographical coordinates of the center point of the operation area;

[0012] Step S102: rotating the working area according to the azimuth angle of the working area; then dividing the working area into a plurality of working areas according to the pre-set spray width and grid length of the drone;

[0013] Step S103: Calculate the geographical coordinates of the center point of each working area based on the geographical coordinates of the known boundary points in the working area; perform reverse rotation on the calculated geographical coordinates of the center point of the working area, and the rotation angle is the azimuth angle, and finally obtain the geographical coordinates of the center point of each working area.

[0014] Preferably, the working area is a regular working area and an irregular working area.

[0015] Preferably, in step S1, the centroid method is used to find the centroid of the working area and each working area, and the geographical coordinates of the center point of the working area and each working area are obtained by taking the geographical coordinates of the centroid as the geographical coordinates of the center point.

[0016] Preferably, in step S2, after obtaining the geographic coordinates of the center point of each operating cell, the UAV transmits the data information back to the ground control end through 5G communication. After receiving the data information, the ground control end constructs an operating route optimization model with minimizing the UAV operating range as the optimization goal, and inputs the geographic coordinates of the center point of each operating cell into the operating trajectory optimization model to obtain the UAV operating route with the shortest UAV operating range; the ground control end sends the UAV operating route to the UAV, and the UAV performs flight operations according to the operating route.

[0017] Preferably, in step S3, when the drone performs spraying in the edge operation area of ​​the operation area, the spraying parameters are adaptively adjusted by obtaining the real-time environmental wind speed at the location and the relative height between the drone and the sprayed crop, specifically:

[0018] Step S301: Calculate the drift displacement of the pesticide according to the initial speed of the pesticide sprayed by the spraying device mounted on the drone, the real-time environmental wind speed, and the relative height between the drone and the sprayed crop;

[0019] Step S302: Calculate the longitude and latitude coordinates of the pesticide after the pesticide has dropped to a relative height based on the position coordinates of the UAV and the drift displacement of the pesticide; determine whether the longitude and latitude coordinates of the pesticide are within the longitude and latitude range of the operating area at this time; if they are within the longitude and latitude range of the operating area, it indicates that the pesticide sprayed by the UAV at this time will not drift out of the safety boundary of the operating area; the UAV keeps the spraying parameters unchanged; if they are not within the longitude and latitude range of the operating area, it indicates that the pesticide sprayed by the UAV at this time will drift out of the safety boundary of the operating area; the UAV needs to change the spraying parameters to ensure that the pesticide will not drift out of the safety boundary of the operating area during the UAV spraying operation.

[0020] Preferably, the spraying parameters include spraying speed and spraying angle.

[0021] A precision target spraying device for a plant protection UAV includes a spraying device and a ground control terminal, wherein:

[0022] The spraying operation device includes a drone and a spraying operation module mounted on the drone, wherein the spraying operation module includes a medicine box, a medicine spraying module arranged on the drone, and a medicine liquid delivery module for delivering the medicine liquid in the medicine box to the medicine spraying module, wherein the medicine spraying module is a spray rod installed on the drone, and a plurality of nozzles are arranged on the spray rod; the medicine liquid delivery module includes a delivery pump and a delivery pipeline, wherein the inlet of the delivery pump is connected to the medicine box, and the outlet is connected to the spray rod through the delivery pipeline;

[0023] The ground control end includes an operation trajectory generation module, a ground control module and a wireless communication module, wherein the operation trajectory generation module is used to generate a UAV operation path with the shortest travel distance according to the geographic coordinates of the center point of each operation cell; the ground control end sends the UAV operation path to the UAV through the wireless communication module, and monitors the flight status of the UAV in real time.

[0024] An electronic device comprises a central processing unit and a memory, wherein the central processing unit is used to call and run a computer program stored in the memory to execute the steps of the method for precise target spraying of a plant protection UAV.

[0025] A computer-readable storage medium stores a computer program implemented according to the method for precise target spraying of a plant protection UAV in the form of computer-readable instructions. When the computer program is called and executed by a computer, the steps included in the corresponding method are executed.

[0026] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0027] 1. The plant protection UAV precise target spraying method of the present invention utilizes the geographic coordinates of the boundary points of the operating area, combined with the pre-set spray width and grid length of the plant protection UAV, and indirectly obtains the center point coordinates of the operating area (target area) through a geometric analysis method, thereby effectively solving the shortcomings of cumbersome steps, large measurement workload, low efficiency, and difficulty in entering the target area when measuring point by point.

[0028] 2. The plant protection UAV precision target spraying method of the present invention obtains the latitude and longitude range of the operating area, and then calculates the drift displacement of the pesticide and the latitude and longitude coordinates of the pesticide after the pesticide drops in relative height according to the initial speed of the pesticide sprayed by the spraying operation module carried by the UAV and the real-time environmental wind speed, and the relative height between the UAV and the crop canopy; finally, it is determined whether the latitude and longitude coordinates of the pesticide are within the latitude and longitude range of the operating area at this time. If it is within the latitude and longitude range of the operating area, it is determined that the pesticide sprayed by the UAV at this time will not drift out of the safety boundary of the operating area; the UAV keeps the spraying parameters unchanged; if it is not within the latitude and longitude range of the operating area, it is determined that the pesticide sprayed by the UAV at this time will drift out of the safety boundary of the operating area; the UAV changes the spraying parameters to ensure that the pesticide does not drift out of the safety boundary of the operating area during the UAV spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure is a schematic diagram of the process of the precise target spraying method of the plant protection UAV of the present invention.

[0030] Figure 2 This is a schematic diagram of an irregular working area.

[0031] Figure 3 Schematic diagram of the irregular working area after the rotation direction angle.

[0032] Figure 4 A schematic diagram of the irregular working area divided into various working areas.

[0033] Figure 5 This is a schematic diagram of using the center of gravity method to obtain an irregular working area.

[0034] Figure 6 This is the final work area and work area map.

[0035] Figure 7 It is a schematic diagram of the structure of the computer device of the present invention. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0037] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0038] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0039] It will be understood by those skilled in the art that the "client", "terminal" and "terminal device" used herein include both devices with wireless signal receivers, which are devices with only wireless signal receivers without transmission capabilities, and devices with receiving and transmitting hardware, which are devices with receiving and transmitting hardware capable of two-way communication on a two-way communication link. Such devices may include: cellular or other communication devices such as personal computers, tablet computers, which have single-line displays or multi-line displays or cellular or other communication devices without multi-line displays; PCS (Personal Communications Service, personal communication system), which can combine voice, data processing, fax and / or data communication capabilities; PDA (Personal Digital Assistant, personal digital assistant), which may include a radio frequency receiver, pager, Internet / intranet access, web browser, notepad, calendar and / or GPS (Global Positioning System, global positioning system) receiver; conventional laptop and / or palmtop computers or other devices, which have and / or include a conventional laptop and / or palmtop computer or other device with and / or including a radio frequency receiver. The "client", "terminal" and "terminal device" used herein may be portable, transportable, installed in a vehicle (air, sea and / or land), or suitable for and / or configured to run locally, and / or in a distributed form, at any other location on the earth and / or in space. The "client", "terminal" and "terminal device" used herein may also be a communication terminal, an Internet terminal, a music / video playing terminal, for example, a PDA, a MID (Mobile Internet Device) and / or a mobile phone with a music / video playing function, or a smart TV, a set-top box and other devices.

[0040] The hardware referred to by the names such as "server", "client" and "service node" in the present invention is essentially an electronic device with equivalent capabilities to a personal computer. It is a hardware device with necessary components revealed by the von Neumann principle, such as a central processing unit (including an arithmetic unit and a controller), a memory, an input device and an output device. The computer program is stored in its memory, and the central processing unit calls the program stored in the external memory into the internal memory for execution, executes the instructions in the program, and interacts with the input and output devices to complete specific functions.

[0041] It should be pointed out that the concept of "server" referred to in the present invention can also be extended to the case of server clusters. According to the network deployment principle understood by those skilled in the art, the servers should be logically divided. In physical space, these servers can be independent of each other but can be called through interfaces, or integrated into a physical computer or a set of computer clusters. Those skilled in the art should understand this flexibility, and should not use it to restrict the implementation of the network deployment method of the present invention.

[0042] Unless expressly specified, one or more technical features of the present invention can be deployed on a server for implementation and accessed by a client through a remote call to obtain an online service interface provided by the server, or can be directly deployed and run on a client for access.

[0043] The neural network models referenced or may be referenced in the present invention, unless expressly specified, can be deployed on a remote server and remotely called on the client, or can be deployed on a client with sufficient device capabilities and directly called. In some embodiments, when it runs on the client, its corresponding intelligence can be obtained through transfer learning so as to reduce the requirements for the client hardware operating resources and avoid excessive occupation of the client hardware operating resources.

[0044] Unless expressly specified otherwise, the various data involved in the present invention can be stored remotely in a server or in a local terminal device, as long as it is suitable for being called by the technical solution of the present invention.

[0045] Those skilled in the art should know that, although the various methods of the present invention are described based on the same concept and thus present commonality to each other, unless otherwise specified, these methods can be independently executed. Similarly, for each embodiment disclosed in the present invention, they are all proposed based on the same inventive concept, therefore, concepts with the same expression, and concepts that are appropriately changed for convenience despite different expressions, should be understood as equivalent.

[0046] Unless the mutually exclusive relationship between the embodiments to be disclosed in the present invention is explicitly stated, the relevant technical features involved in the embodiments can be cross-combined to flexibly construct new embodiments, as long as such combination does not deviate from the creative spirit of the present invention and can meet the needs of the prior art or solve certain deficiencies in the prior art. Those skilled in the art should be aware of this flexibility.

[0047] See also Figure 1-Figure 5 The plant protection UAV precision target spraying method of the present invention comprises the following steps:

[0048] Step S1: Use a drone equipped with an RTK module to measure the geographic coordinates of the boundary points of the work area; determine the boundaries of the work area, divide the work area into multiple work areas according to the pre-set drone spray width and grid length, and calculate the geographic coordinates of each work area;

[0049] Step S2: The obtained geographical coordinates of the center points of each operation cell are sent to the ground control terminal, and the ground control terminal plans the operation route of the UAV according to the geographical coordinates of the center points of each operation cell, and sends the planned operation route to the UAV;

[0050] Step S3: The drone equipped with the spraying operation module performs spraying operations according to the planned operation route, and when performing spraying operations in the edge operation area of ​​the operation area, the spraying parameters are adaptively adjusted according to the ambient wind speed and the relative height between the wind speed and the sprayed crops to ensure that the sprayed pesticides are within the boundary of the operation area.

[0051] In step S1, the steps for obtaining the geographical coordinates of each operating area are:

[0052] Step S101: determine the boundary of the operation area, and calculate the azimuth and geographical coordinates of the center point of the operation area;

[0053] Step S102: rotating the working area according to the azimuth angle of the working area; then dividing the working area into a plurality of working areas according to the pre-set spray width and grid length of the drone;

[0054] Step S103: Calculate the geographical coordinates of the center point of each working area based on the geographical coordinates of the known boundary points in the working area; perform reverse rotation on the calculated geographical coordinates of the center point of the working area, and the rotation angle is the azimuth angle, and finally obtain the geographical coordinates of the center point of each working area.

[0055] See also Figure 1-Figure 5 The working area is an irregular working area, and the four boundary points of the irregular working area are boundary point A, boundary point B, boundary point C and boundary point D. The boundary of the working area is determined by calculating the minimum bounding box of the boundary points.

[0056] The following takes the irregular operation area ASCD as the operation area and obtains the geographical coordinates of the center points of each operation area in the operation area, specifically:

[0057] Step A1: The drone measures each boundary point in the irregular operation area to obtain the geographic coordinates of boundary point A, boundary point B, boundary point C and boundary point D (such as Figure 2 shown);

[0058] Step A2: Starting from the first boundary point A, calculate the distance d between two adjacent boundary points in a clockwise direction:

[0059]

[0060] Where: R is the radius of the earth; lat1 is the latitude of boundary point 1; lng1 is the longitude of boundary point 1; lat2 is the latitude of boundary point 1; lng3 is the longitude of boundary point 2;

[0061] Step A3: Find the line segment with the longest distance and the coordinates of the two boundary points corresponding to the line segment. If the distances are equal, compare the longitude coordinates of the two boundary points forming the line segment and select the corresponding line segment containing the boundary point with the smallest longitude coordinate.

[0062] Step A4: Calculate the azimuth of the operating area using the following formula using the line segment found in step S3:

[0063] ∠D'AD=arctan(DD' / DA);

[0064] Step A5: Calculate the coordinates of the center point P of the irregular operation area:

[0065]

[0066] Step A6: With P as the center point, rotate the irregular operation area counterclockwise according to the coordinate rotation formula, and the rotation angle is the angle of the azimuth (such as Figure 3 shown);

[0067]

[0068] Step A7: Divide the rotated irregular operation area into multiple operation areas according to the spray width of the drone in the vertical direction and the grid length in the horizontal direction, and calculate the coordinates of the center point of each operation area (such as Figure 4 shown):

[0069]

[0070] Where:

[0071] Lat2: the latitude of the geographical coordinates of the target point, that is, the latitude of the geographical coordinates of the center point of the operation area;

[0072] long2: the longitude of the geographic coordinates of the target point, that is, the longitude of the geographic coordinates of the center point of the operation area;

[0073] lat1: the latitude of the geographical coordinates of the known point;

[0074] long2: the longitude of the geographical coordinates of the known point;

[0075] SAS1: lateral distance from known point to target point;

[0076] SAH1: longitudinal distance from known point to target point;

[0077] R: radius of the earth;

[0078] Step A8: According to the pre-set longitudinal distance, transverse distance and azimuth, the operation cells are rotated and divided, and the latitude coordinate of the center point of each row of the operation cells is obtained using the following formula;

[0079]

[0080] Where:

[0081] x', y': coordinates of the center point of the operation area where precise target spraying is finally implemented;

[0082] x, y: coordinate values ​​calculated in step S7;

[0083] tx, ty: coordinate values ​​of the center point P;

[0084] θ: azimuth;

[0085] Step A9: Calculate the longitude coordinates of the intersection of each line segment formed by the latitude line and the boundary point in step A8 using the following formula:

[0086]

[0087] Where:

[0088] x1 and x2 are the longitude coordinates of the boundary points;

[0089] y1 and y2 are the latitude coordinates of the boundary points;

[0090] y is the latitude coordinate obtained in step A8;

[0091] x is the longitude coordinate to be obtained;

[0092] Step A10: judging whether the coordinates of the center point of the working area calculated in step A7 are within the working area according to the coordinates of the intersection point with the boundary obtained in step A9, that is, whether the longitude of the center point of the working area is outside the longitude of the intersection point with the boundary; if it is within the working area, then keep it;

[0093] Step A11: After coordinate rotation, the coordinates of the center points of each operation area used for precise target spraying are obtained (such as Figure 5 shown).

[0094] In this embodiment, after obtaining the geographic coordinates of the center point of each operating cell, the drone transmits the data information back to the ground control end through 5G communication. After receiving the data information, the ground control end constructs an operating route optimization model with minimizing the drone's operating range as the optimization goal, and inputs the geographic coordinates of the center point of each operating cell into the operating trajectory optimization model to obtain the drone's operating route with the shortest drone operating range; the ground control end sends the drone's operating route to the drone, and the drone performs flight operations according to the operating route.

[0095] When the drone is spraying in the edge operation area, the spraying parameters can be adaptively adjusted by obtaining the real-time environmental wind speed at its location and the relative height between the drone and the sprayed crops. Specifically:

[0096] Step S301: Calculate the drift displacement of the pesticide by a corresponding mathematical formula according to the initial speed of the pesticide sprayed by the spraying device mounted on the drone, the real-time environmental wind speed, and the relative height between the drone and the sprayed crop;

[0097] Step S302: Calculate the longitude and latitude coordinates of the pesticide after the pesticide has dropped to a relative height based on the position coordinates of the drone and the drift displacement of the pesticide; and determine whether the longitude and latitude coordinates of the pesticide are within the longitude and latitude range of the operation area.

[0098] If it is within the latitude and longitude range of the operation area, it means that the pesticide sprayed by the drone will not drift beyond the safety boundary of the operation area; the drone maintains the spraying parameters unchanged;

[0099] If it is not within the latitude and longitude of the operating area, it means that the pesticide sprayed by the drone will drift out of the safe boundary of the operating area; the drone needs to change the spraying parameters to ensure that the pesticide does not drift out of the safe boundary of the operating area during the drone spraying operation.

[0100] The spraying parameters in the above process include spraying speed and spraying angle. By controlling the initial speed and spraying angle of the pesticide, the pesticide can accurately fall on the canopy of the sprayed crop even under the influence of the environmental wind field. At the same time, it can also prevent the pesticide from drifting outside the working area when spraying in the working area at the edge of the working area.

[0101] Example 2

[0102] The difference between this embodiment and embodiment 1 is that:

[0103] In this embodiment, the centroid method is used to find the centroid of the operation area and each operation area, and the geographical coordinates of the center point of the operation area and each operation area are obtained by taking the geographical coordinates of the centroid as the geographical coordinates of the center point; the specific steps are:

[0104] like Figure 6 As shown, a diagonal line AC is drawn in the irregular working area ABCD to divide the irregular working area ABCD into two triangles, and the centroid E and centroid F of the two triangles are calculated respectively, and then the two centroids are connected into a line segment EF. The intersection point G of the line segments AC and EF is the centroid of the irregular working area ABCD.

[0105] The coordinates of the centroid E are (X1, Y1), and the area of ​​the triangle where it is located is S1; the coordinates of the centroid F are (X2, Y2), and the area of ​​the triangle where it is located is S2; the area of ​​the triangle can be obtained by using the vector cross product (determinant);

[0106] Then the center of gravity of the irregular operation area ABCD is:

[0107] Gx = (X1xS1+X2xs2) / (S1+S2);

[0108] Gy=(Y1Xs1+Y2Xs2) / (S1+S2).

[0109] Example 3

[0110] The plant protection UAV precision target spraying device of the present invention comprises a spraying operation device and a ground control end, wherein the spraying operation device comprises a UAV and a spraying operation module carried on the UAV, wherein the spraying operation module comprises a medicine box, a spraying module arranged on the UAV and a liquid medicine delivery module for delivering the liquid medicine in the medicine box to the spraying module, wherein the spraying module is a spray rod installed on the UAV, and a plurality of nozzles are arranged on the spray rod; the liquid medicine delivery module comprises a delivery pump and a delivery pipeline, wherein the inlet of the delivery pump is connected to the medicine box, and the outlet is connected to the spray rod through the delivery pipeline; the ground control end comprises an operation trajectory generation module, a ground control module and a wireless communication module, wherein the operation trajectory generation module is used to generate the UAV operation path with the shortest travel distance according to the geographical coordinates of the center point of each operation area; the ground control end sends the UAV operation path to the UAV through the wireless communication module, and monitors the flight status of the UAV in real time.

[0111] In this embodiment, the specific structure of the spraying operation device can be implemented with reference to the spraying device on the existing plant protection UAV.

[0112] Example 4

[0113] Based on any embodiment of the present invention, please refer to Figure 7 Another embodiment of the present invention further provides an electronic device, which can be implemented by a computer device, such as Figure 7 As shown, a schematic diagram of the internal structure of a computer device. The computer device includes a processor, a computer-readable storage medium, a memory, and a network interface connected via a system bus. Among them, the computer-readable storage medium of the computer device stores an operating system, a database, and computer-readable instructions. The database may store a control information sequence. When the computer-readable instructions are executed by the processor, the processor can implement a method for precise target spraying of a plant protection UAV. The processor of the computer device is used to provide computing and control capabilities to support the operation of the entire computer device. The memory of the computer device may store computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor can execute the method for precise target spraying of a plant protection UAV of the present invention. The network interface of the computer device is used to connect and communicate with a terminal. Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0114] In this embodiment, the processor is used to execute the specific functions of each module in the precision target spraying device for plant protection UAV of the present invention, and the memory stores the program code and various data required to execute the above modules. The network interface is used to transmit data between user terminals or servers. The memory in this embodiment stores the program code and data required to execute all modules / submodules in the precision target spraying device for plant protection UAV of the present invention, and the server can call the program code and data of the server to execute the functions of all submodules.

[0115] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the method for precise target spraying of a plant protection drone as described in any embodiment of the present invention.

[0116] The present invention also provides a computer program product, including a computer program / instruction, which, when executed by one or more processors, implements the steps of the method for precise target spraying of a plant protection drone as described in any embodiment of the present invention.

[0117] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments of the present invention can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a computer-readable storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0118] The above descriptions are only some embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0119] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for precise target spraying by a plant protection drone, characterized in that: The following steps are involved: Step S1: Use a drone equipped with an RTK module to measure the geographic coordinates of the boundary points of the operation area; Determine the boundaries of the operating area, divide the operating area into multiple operating areas according to the pre-set UAV spray width and grid length, and calculate the geographic coordinates of each operating area; Step S2: The obtained geographical coordinates of the center points of each operation cell are sent to the ground control terminal, and the ground control terminal plans the operation route of the UAV according to the geographical coordinates of the center points of each operation cell, and sends the planned operation route to the UAV; Step S3: The drone equipped with the spraying operation module performs spraying operations according to the planned operation route, and when performing spraying operations in the edge operation area of ​​the operation area, the spraying parameters are adaptively adjusted according to the ambient wind speed and the relative height between the wind speed and the sprayed crops to ensure that the sprayed pesticides are within the boundary of the operation area.

2. The method for precise target spraying by a plant protection drone according to claim 1, characterized in that: In step S1, the steps for obtaining the geographical coordinates of each operating area are: Step S101: determine the boundary of the operation area, and calculate the azimuth and geographical coordinates of the center point of the operation area; Step S102: rotating the working area according to the azimuth angle of the working area; then dividing the working area into a plurality of working areas according to the pre-set spray width and grid length of the drone; Step S103: Calculate the geographical coordinates of the center point of each working area based on the geographical coordinates of the known boundary points in the working area; perform reverse rotation on the calculated geographical coordinates of the center point of the working area, and the rotation angle is the azimuth angle, and finally obtain the geographical coordinates of the center point of each working area.

3. The method for precise target spraying by a plant protection drone according to claim 2, characterized in that: The operation area includes a regular operation area and an irregular operation area.

4. The method for precise target spraying by a plant protection drone according to claim 2, characterized in that: In step S1, the centroid method is used to find the centroid of the working area and each working area, and the geographical coordinates of the centroid are used as the geographical coordinates of the center point to obtain the geographical coordinates of the center point of the working area and each working area.

5. The method for precise target spraying by a plant protection drone according to claim 4, characterized in that: In step S2, after obtaining the geographical coordinates of the center point of each operating cell, the drone transmits the data information back to the ground control end through 5G communication. The ground control end constructs an operation route optimization model based on the received data information, with minimizing the drone operation journey as the optimization goal, and inputs the geographical coordinates of the center point of each operating cell into the operation trajectory optimization model to obtain the drone operation route with the shortest drone operation journey; The ground control end sends the UAV operation route to the UAV, and the UAV performs flight operations according to the operation route.

6. The method for precise target spraying by a plant protection UAV according to claim 4, characterized in that: In step S3, when the drone performs spraying in the edge operation area of ​​the operation area, the spraying parameters are adaptively adjusted by obtaining the real-time environmental wind speed at its location and the relative height between the drone and the sprayed crops, specifically: Step S301: Calculate the drift displacement of the pesticide according to the initial speed of the pesticide sprayed by the spraying device mounted on the drone, the real-time environmental wind speed, and the relative height between the drone and the sprayed crop; Step S302: Calculate the longitude and latitude coordinates of the pesticide after the pesticide has dropped to a relative height based on the position coordinates of the UAV and the drift displacement of the pesticide; determine whether the longitude and latitude coordinates of the pesticide are within the longitude and latitude range of the operating area at this time; if they are within the longitude and latitude range of the operating area, it indicates that the pesticide sprayed by the UAV at this time will not drift out of the safety boundary of the operating area; the UAV keeps the spraying parameters unchanged; if they are not within the longitude and latitude range of the operating area, it indicates that the pesticide sprayed by the UAV at this time will drift out of the safety boundary of the operating area; the UAV needs to change the spraying parameters to ensure that the pesticide will not drift out of the safety boundary of the operating area during the UAV spraying operation.

7. The method for precise target spraying by a plant protection UAV according to claim 6, characterized in that: The spraying parameters include spraying speed and spraying angle.

8. A plant protection UAV precision target spraying device using the plant protection UAV precision target spraying method according to any one of claims 1 to 7, characterized in that: It includes a spraying device and a ground control terminal, wherein: The spraying operation device includes a drone and a spraying operation module mounted on the drone, wherein the spraying operation module includes a medicine box, a medicine spraying module arranged on the drone, and a medicine liquid delivery module for delivering the medicine liquid in the medicine box to the medicine spraying module, wherein the medicine spraying module is a spray rod installed on the drone, and a plurality of nozzles are arranged on the spray rod; the medicine liquid delivery module includes a delivery pump and a delivery pipeline, wherein the inlet of the delivery pump is connected to the medicine box, and the outlet is connected to the spray rod through the delivery pipeline; The ground control end includes an operation trajectory generation module, a ground control module and a wireless communication module, wherein the operation trajectory generation module is used to generate a UAV operation path with the shortest travel distance according to the geographic coordinates of the center point of each operation cell; the ground control end sends the UAV operation path to the UAV through the wireless communication module, and monitors the flight status of the UAV in real time.

9. An electronic device, comprising a central processing unit and a memory, characterized in that: The central processing unit is used to call and run a computer program stored in the memory to execute the steps of the method for precise target spraying of a plant protection drone as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: It stores a computer program implemented by the method for precise target spraying of plant protection UAV according to any one of claims 1 to 7 in the form of computer-readable instructions, and when the computer program is called and executed by a computer, the steps included in the corresponding method are executed.

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