Multifunctional rice planting unmanned plant protection machine system

Abstract

The invention discloses a multifunctional rice planting unmanned plant protection machine system, particularly relates to the technical field of rice planting, and adopts a GPS positioning technology, an image processing technology, an algorithm optimization module and a sensor distance measurement technology. When the GPS positioning technology is used for the first time or the rice is newly added, the (new) coordinates of the head rice and the tail rice in each row need to be manually recorded, and the image processing technology is mainly divided into two aspects: 1, the position of the rice is judged to adjust the hovering position; 2, the size of the rice is judged to determine the pesticide spraying amount, and the general flight route of the unmanned aerial vehicle is stipulated to be basically consistent with the row direction; according to the invention, through a GPS positioning technology, an image processing technology, algorithm optimization and a sensor distance measurement technology, an automatic system is used for replacing a manual remote control unmanned plant protection machine to spray pesticides, the use threshold of the unmanned plant protection machine is reduced, and meanwhile, the labor cost and the pesticide waste amount are also greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of rice planting, and more specifically, to a multifunctional rice planting unmanned plant protection machine system. Background Art

[0002] Unmanned plant protection aircraft is an unmanned aircraft used for rice planting protection operations. It realizes spraying operations through ground remote control or navigation flight control. It can spray pesticides, seeds, powders, etc. With the rapid development of drone technology, unmanned plant protection aircraft are not only used for spraying pesticides, but also for spreading fertilizers, seeds, feed and other tasks to meet the diverse needs of farmers and improve production efficiency.

[0003] In recent years, the technology of pesticide spraying of unmanned plant protection machines for rice has developed rapidly. Compared with traditional manual application methods, plant protection drones have high spraying speed and efficiency, which can effectively reduce labor costs and improve work efficiency. However, the unmanned plant protection machines currently produced basically require manual control, and the operation of unmanned plant protection machines requires a high threshold. Farmers can only ask technicians to spray pesticides. Such inconvenience has caused the slow promotion of unmanned plant protection machines. Therefore, unmanned plant protection machines have the problems of low intelligence, high operating threshold and low automation. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a multifunctional rice planting unmanned plant protection machine system. Through GPS positioning technology, image processing technology, algorithm optimization, and sensor ranging technology, an automated system is used to replace the manual remote control of the unmanned plant protection machine for spraying pesticides, thereby lowering the threshold for the use of unmanned plant protection machines. At the same time, it also greatly reduces labor costs and pesticide waste, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multifunctional rice planting unmanned plant protection system, including GPS positioning technology, image processing technology, algorithm optimization module, sensor ranging technology, rice planting is mostly planted in rows, and the GPS positioning technology is used for the first time or when new rice is added, the (new) coordinates of the first and last rice in each row need to be manually recorded, and the image processing technology is mainly divided into two aspects: one is to judge the position of rice to adjust the hovering position; the other is to judge the size of rice to determine the amount of pesticide sprayed, and the general flight route of the unmanned aerial vehicle is basically consistent with the direction of the row. The camera carried by the unmanned aerial vehicle continuously transmits the overhead image back to the microprocessor for processing, adjusts the position of the unmanned aerial vehicle according to the image information, makes it hover over the rice, and then determines the growth size of the rice according to the image information, and transmits the information to the next step. According to the rice size information transmitted by the image processing, the sensor ranging technology automatically adjusts the spraying height and the size of the sprayed pesticide for spraying, so that the pesticide spraying can be deeper instead of just floating on the surface.

[0006] In a preferred embodiment, the GPS positioning technology can be converted into XY coordinates, and the direction of the rice row is defined as the y-axis. After the farmland boundary is determined by the coordinates of the marking point, the GPS coordinates are converted into XY coordinates to obtain two boundary point sets on the y-axis. The points on the two boundaries correspond to each other in pairs, and the nth row of rice is between the two points. The multifunctional rice planting unmanned plant protection machine system allows the unmanned plant protection machine to have any take-off point, and then automatically plans the best route, and conducts accurate and complete pesticide spraying. In addition, the system can also automatically modify the coordinate point set according to the secondary modification of the boundary point, and re-plan the best spraying route. When the unmanned plant protection machine needs to replenish pesticides or is low on power, it will remember the progress of pesticide spraying, that is, the coordinate point of a certain rice plant, and the route planning of this spraying task, and then suspend the task, return to the supply point to land, stop working, and wait for the supply to be completed. The task is manually started, and the unmanned plant protection machine will return to the memory point to continue the task.

[0007] In a preferred embodiment, the processing method of the hardware module of the multifunctional rice planting unmanned plant protection machine system is: the Bluetooth module transmits the marker coordinates collected in the device to the unmanned plant protection machine, cooperates with the location information obtained by the GPS module, the rice information obtained by the image processing module, the height information obtained by the rangefinder, and the information processed by the microprocessor, and then sends instructions to the flight control system to realize the automated and intelligent tracking and addressing spraying function of the unmanned plant protection machine.

[0008] In a preferred embodiment, the Bluetooth module complies with the Bluetooth 2.0 protocol, adopts the HC06 model Bluetooth, supports the SPP Bluetooth serial port protocol, supports the UART interface, has low cost, good compatibility, low power consumption, and can enable the unmanned plant protection machine to be paired with computers, Bluetooth hosts, mobile phones and other smart terminals. It has a wide baud rate range of 4800 to 1382400, is compatible with 5V / 3.3V single-chip microcomputer systems, and has a wide voltage supply of 3.3V to 5.5V. When connected to the flight control, the baud rate needs to be modified to 115200, and the command is AT+BAUD8.

[0009] In a preferred embodiment, the image processing module uses the STM32F103 chip of the ARM microprocessor to perform image processing. The collected image is first converted into grayscale. In the program writing, the pixel bright spot value is first calculated by a formula, and then the obtained result is assigned to the three primary colors of R, G, and B. The color image can be converted into a grayscale image, and then the image is thresholded and segmented to binarize the image, that is, the rice and the open space in the picture are separated. The ideal binary image is that the target object (rice) is pure black and the background (open space) is pure white.

[0010] In a preferred embodiment, the rangefinder includes Sharp's GP2Y0A02YK0F distance measurement sensor module, which consists of three parts: PSD (position sensitive detector), IRED (infraredemitting diode) and signal processing circuit. Since the rangefinder adopts a triangulation method, the material of the object being measured, the ambient temperature and the measurement time will not affect the measurement accuracy of the sensor. The sensor output voltage value corresponds to the detected distance, and the distance of the rice can be obtained by measuring the voltage value.

[0011] In a preferred embodiment, the distance sensor in the rangefinder includes a digital signal processor. The TMS320x24x series digital signal processor is a new type of programmable DSP chip developed for digital motor control, embedded control system and digital control system. The LF2407 is a model with the strongest performance and the most complete on-chip facilities in the x240x series DSP controller. Its main features are:

[0012] 1) The use of high-performance static CMOS technology reduces the power supply voltage to 3.3V, reducing the power consumption of the controller, and the execution speed of 30MIPS shortens the instruction cycle to 33ns (30MHz);

[0013] 2) Two event manager modules EVA and EVB, each including: two 16-bit general-purpose timers, eight 16-bit pulse width modulation (PWM) channels;

[0014] 3) The minimum conversion time of the 10-bit A / D converter is 500ns, and two event managers can be selected to trigger two 8-channel input A / D converters or one 16-bit channel input A / D converter.

[0015] In a preferred embodiment, the microprocessor uses a 32-bit ARM Cortex-M3 core with high performance, low cost and low power consumption, and has up to 128kB of embedded flash memory, 20kB of SRAM and very rich peripherals: two 1μs 12-bit ADCs, 1 full-speed USB (OTG) interface, 1 CAN interface, 3 4M / S UARTs, 2 18M / S SPIs, 2 I2Cs, etc., and also integrates a reset circuit, low voltage detection, voltage regulator, precise RC oscillator, etc., consumes 36mA at 72MHz (all peripherals are in working state), equivalent to 0.5mA / MHz, and drops to 2μA in standby mode. At the same time, the rich I / O interfaces of the STM32F103 series microcontrollers can communicate efficiently with the sensor module.

[0016] In a preferred embodiment, the flight control system adopts the DJI N3 AG model. The N3 multi-rotor flight control system adopts DJI's latest control and navigation algorithm and a newly added built-in dual IMU redundant design to achieve real-time data backup. Combined with the new internal shock-absorbing structure design, the aircraft is given high reliability. The "black box" data recording system provides accurate data support for flight performance analysis. At the same time, support for a series of DJI accessories, high-performance software, SDK and A3 Upgrade Kit high-performance navigation modules including Lightbridge 2 and DJI Assistant 2 helps the aircraft achieve rich application expansion.

[0017] In a preferred embodiment, the method comprises the following specific steps:

[0018] Step S10: First, the GPS positioning module realizes self-positioning, the unmanned plant protection aircraft takes off, determines a corner point closest to the unmanned plant protection aircraft as the starting point of this mission, and automatically flies to the point;

[0019] Step S20: Secondly, the image processing module continuously takes pictures and extracts picture information to accurately obtain the position of rice and fine-tune the spraying position of the unmanned plant protection machine in real time;

[0020] Step S30: Then, the algorithm optimization module identifies the information of rice in the image and transmits the information to the sensor distance measurement module;

[0021] Step S40: Finally, the sensor distance measurement module is started, and the output voltage of this module increases as the distance decreases.

[0022] Technical effects and advantages of the present invention:

[0023] The present invention specifically uses GPS positioning technology, image processing technology, algorithm optimization, and sensor ranging technology to use an automated system to replace manual remote control of unmanned plant protection machines to spray pesticides, thereby lowering the threshold for using unmanned plant protection machines and greatly reducing labor costs and pesticide waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a system structure flow chart of the present invention.

[0025] Figure 2 The present invention is a flowchart of the system operation steps. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The embodiments of the present application can be applied to computer systems / servers, which can operate with many other general or special computing system environments or configurations. Examples of well-known computing systems, environments and / or configurations suitable for use with computer systems / servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0028] Computer systems / servers may be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. In general, program modules may include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers may be implemented in a distributed cloud computing environment where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules may be located on local or remote computing system storage media including storage devices.

[0029] Example

[0030] This embodiment provides Figure 1 A multifunctional rice planting unmanned plant protection system is shown, including GPS positioning technology, image processing technology, algorithm optimization module, sensor ranging technology. Rice is mostly planted in rows. When the GPS positioning technology is used for the first time or when new rice is added, the (new) coordinates of the first and last rice in each row need to be manually recorded. The image processing technology is mainly divided into two aspects: one is to determine the position of the rice to adjust the hovering position; the other is to determine the size of the rice to determine the amount of pesticide sprayed. The general route of the drone flight is basically consistent with the direction of the row. The camera carried by the drone continuously transmits the overhead image back to the microprocessor for processing. The drone position is adjusted according to the image information so that it hovers over the rice. The growth size of the rice is determined according to the image information, and the information is transmitted to the next step. According to the rice size information transmitted by the image processing, the sensor ranging technology automatically adjusts the spraying height and the size of the pesticide to be sprayed for spraying, so that the pesticide spraying can be deeper rather than just floating on the surface.

[0031] The GPS positioning technology can be converted into XY coordinates, and the direction of the rice row is defined as the y-axis. After the farmland boundary is determined by the coordinates of the marking point, the GPS coordinates are converted into XY coordinates, thereby obtaining two boundary point sets on the y-axis. The points on the two boundaries correspond to each other in pairs, and the nth row of rice is between the two points. The multifunctional rice planting unmanned plant protection machine system allows the unmanned plant protection machine to have any take-off location, and then automatically plans the best route, and conducts accurate and non-omission pesticide spraying. In addition, the system can also automatically modify the coordinate point set according to the secondary modification of the boundary point, and re-plan the best spraying route. When the unmanned plant protection machine needs to replenish pesticides or is low on power, it will remember the progress of pesticide spraying, that is, the coordinate point of a certain rice plant, and the route planning of this spraying task, and then suspend the task, return to the supply point to land, stop working, and wait for the supply to be completed. The task is manually started, and the unmanned plant protection machine will return to the memory point to continue the task.

[0032] The processing method of the hardware module of the multifunctional rice planting unmanned plant protection machine system is as follows: the Bluetooth module transmits the marker coordinates collected in the device to the unmanned plant protection machine, cooperates with the location information obtained by the GPS module, the rice information obtained by the image processing module, the height information obtained by the rangefinder, and the information processed by the microprocessor, and then sends instructions to the flight control system to realize the automatic and intelligent tracking and addressing spraying function of the unmanned plant protection machine.

[0033] This embodiment provides Figure 2 The operation method of a multifunctional rice planting unmanned plant protection machine system is shown as follows:

[0034] Step S10: First, the GPS positioning module realizes self-positioning, the unmanned plant protection aircraft takes off, determines a corner point closest to the unmanned plant protection aircraft as the starting point of this mission, and automatically flies to the point;

[0035] What needs to be specifically explained in this embodiment is that the flight control system adopts the DJI N3 AG model. The N3 multi-rotor flight control system adopts DJI's latest control and navigation algorithm. The newly added built-in dual IMU redundant design realizes real-time data backup. Combined with the new internal shock-absorbing structure design, the aircraft has high reliability. The "black box" data recording system provides accurate data support for flight performance analysis. At the same time, support for a series of DJI accessories, high-performance software, SDK and A3 Upgrade Kit high-performance navigation modules including Lightbridge 2 and DJI Assistant 2 helps the aircraft achieve rich application expansion.

[0036] What needs to be specifically explained is that the Bluetooth module complies with the Bluetooth 2.0 protocol, uses the HC06 model Bluetooth, supports the SPP Bluetooth serial port protocol, supports the UART interface, has low cost, good compatibility, and low power consumption, and can pair the unmanned plant protection machine with computers, Bluetooth hosts, mobile phones and other smart terminals. It has a wide baud rate range of 4800 to 1382400, is compatible with 5V / 3.3V microcontroller systems, and has a wide voltage supply of 3.3V to 5.5V. When connected to the flight control, the baud rate needs to be changed to 115200, and the command is AT+BAUD8.

[0037] Step S20: Secondly, the image processing module continuously takes pictures and extracts picture information to accurately obtain the position of rice and fine-tune the spraying position of the unmanned plant protection machine in real time;

[0038] What needs to be specifically explained in this embodiment is that the image processing module uses the STM32F103 chip of the ARM microprocessor to perform image processing. The collected image is first converted into grayscale. In the program writing, the pixel bright spot value is first calculated by a formula, and then the obtained result is assigned to the three primary colors of R, G, and B. The color image can be converted into a grayscale image, and then the image is thresholded and segmented to binarize the image, that is, the rice and the open space in the picture are separated. The ideal binary image is that the target object (rice) is pure black and the background (open space) is pure white.

[0039] Step S30: Then, the algorithm optimization module identifies the information of rice in the image and transmits the information to the sensor distance measurement module;

[0040] What needs to be specifically explained in this embodiment is that the rangefinder includes Sharp's GP2Y0A02YK0F distance measurement sensor module, which is composed of three parts: PSD (position sensitive detector), IRED (infrared emitting diode) and signal processing circuit. Since the rangefinder adopts the triangulation method, the material of the object being measured, the ambient temperature and the measurement time will not affect the measurement accuracy of the sensor. The sensor output voltage value corresponds to the detected distance, and the distance of the rice can be obtained by measuring the voltage value.

[0041] It should be specifically noted that the distance sensor in the rangefinder includes a digital signal processor. The TMS320x24x series digital signal processor is a new type of programmable DSP chip developed for digital motor control, embedded control systems and digital control systems. The LF2407 is the model with the strongest performance and the most complete on-chip facilities in the x240x series DSP controller. Its main features are:

[0042] 1) The use of high-performance static CMOS technology reduces the power supply voltage to 3.3V, reducing the power consumption of the controller, and the execution speed of 30MIPS shortens the instruction cycle to 33ns (30MHz);

[0043] 2) Two event manager modules EVA and EVB, each including: two 16-bit general-purpose timers, eight 16-bit pulse width modulation (PWM) channels;

[0044] 3) The minimum conversion time of the 10-bit A / D converter is 500ns, and two event managers can be selected to trigger two 8-channel input A / D converters or one 16-bit channel input A / D converter.

[0045] Step S40: Finally, the sensor distance measurement module is started, and the output voltage of this module increases as the distance decreases.

[0046] It should be specifically explained in this embodiment that the microprocessor uses a 32-bit ARM Cortex-M3 core with high performance, low cost and low power consumption, has up to 128kB of embedded flash memory, 20kB of SRAM and very rich peripherals: two 1μs 12-bit ADCs, 1 full-speed USB (OTG) interface, 1 CAN interface, 3 4M / S UARTs, 2 18M / S SPIs, 2 I2Cs, etc., and also integrates a reset circuit, low voltage detection, voltage regulator, accurate RC oscillator, etc. at 72MHz, consumes 36mA (all peripherals are in working state), equivalent to 0.5mA / MHz, and drops to 2μA in standby mode. At the same time, the rich I / O interfaces of the STM32F103 series microcontrollers can communicate efficiently with the sensor module.

[0047] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional rice planting unmanned plant protection system, characterized by: It includes GPS positioning technology, image processing technology, algorithm optimization module, and sensor ranging technology. Rice is mostly planted in rows. When the GPS positioning technology is used for the first time or when new rice is added, the (new) coordinates of the first and last rice in each row need to be manually recorded. The image processing technology is mainly divided into two aspects: one is to determine the position of the rice to adjust the hovering position; the other is to determine the size of the rice to determine the amount of pesticide sprayed. The approximate flight route of the drone is basically consistent with the direction of the row. The camera on the drone continuously transmits the overhead image back to the microprocessor for processing. The position of the drone is adjusted according to the image information so that it hovers over the rice. The growth size of the rice is determined based on the image information and the information is transmitted to the next step. According to the rice size information transmitted by the image processing, the sensor ranging technology automatically adjusts the spraying height and the size of the pesticide to be sprayed, so that the pesticide spraying can be deeper rather than just floating on the surface.

2. The multifunctional rice planting unmanned plant protection system according to claim 1, characterized in that: The GPS positioning technology can be converted into XY coordinates, and the direction of the rice row is defined as the y-axis. After the farmland boundary is determined by the coordinates of the marking point, the GPS coordinates are converted into XY coordinates, thereby obtaining two boundary point sets on the y-axis. The points on the two boundaries correspond to each other in pairs, and the nth row of rice is between the two points. The multifunctional rice planting unmanned plant protection machine system allows the unmanned plant protection machine to have any take-off location, and then automatically plans the best route, and conducts accurate and non-omission pesticide spraying. In addition, the system can also automatically modify the coordinate point set according to the secondary modification of the boundary point, and re-plan the best spraying route. When the unmanned plant protection machine needs to replenish pesticides or is low on power, it will remember the progress of pesticide spraying, that is, the coordinate point of a certain rice plant, and the route planning of this spraying task, and then suspend the task, return to the supply point to land, stop working, and wait for the supply to be completed. The task is manually started, and the unmanned plant protection machine will return to the memory point to continue the task.

3. The multifunctional rice planting unmanned plant protection system according to claim 1 is characterized by: The processing method of the hardware module of the multifunctional rice planting unmanned plant protection machine system is as follows: the Bluetooth module transmits the marker coordinates collected in the device to the unmanned plant protection machine, cooperates with the location information obtained by the GPS module, the rice information obtained by the image processing module, the height information obtained by the rangefinder, and the information processed by the microprocessor, and then sends instructions to the flight control system to realize the automatic and intelligent tracking and addressing spraying function of the unmanned plant protection machine.

4. The multifunctional rice planting unmanned plant protection system according to claim 3 is characterized by: The Bluetooth module complies with the Bluetooth 2.0 protocol, adopts the HC06 model Bluetooth, supports the SPP Bluetooth serial port protocol, supports the UART interface, has low cost, good compatibility, and low power consumption, and can pair the unmanned plant protection machine with computers, Bluetooth hosts, mobile phones and other smart terminals. It has a wide baud rate range of 4800 to 1382400, is compatible with 5V / 3.3V single-chip microcomputer systems, and has a wide voltage supply of 3.3V to 5.5V. When connected to the flight control, the baud rate needs to be modified to 115200, and the command is AT+BAUD8.

5. The multifunctional rice planting unmanned plant protection system according to claim 3 is characterized by: The image processing module uses the STM32F103 chip of the ARM microprocessor to perform image processing. The collected image is first converted into grayscale. In the program writing, the pixel bright spot value is first calculated by a formula, and then the obtained result is assigned to the three primary colors of R, G, and B. The color image can be converted into a grayscale image, and then the image is thresholded and segmented to binarize the image, that is, the rice and the open space in the picture are separated. The ideal binary image is that the target object (rice) is pure black and the background (open space) is pure white.

6. The multifunctional rice planting unmanned plant protection system according to claim 3 is characterized by: The rangefinder includes Sharp's GP2Y0A02YK0F distance measurement sensor module, which consists of three parts: PSD (position sensitive detector), IRED (infraredemitting diode) and signal processing circuit. Since the rangefinder adopts the triangulation method, the material of the object being measured, the ambient temperature and the measurement time will not affect the measurement accuracy of the sensor. The sensor output voltage value corresponds to the detected distance, and the distance of the rice can be obtained by measuring the voltage value.

7. The multifunctional rice planting unmanned plant protection system according to claim 5, characterized in that: The distance sensor in the distance meter includes a digital signal processor. The TMS320x24x series digital signal processor is a new type of programmable DSP chip developed for digital motor control, embedded control system and digital control system. The LF2407 is the model with the strongest performance and the most complete on-chip facilities in the x240x series DSP controller. Its main features are: 1) The use of high-performance static CMOS technology reduces the power supply voltage to 3.3V, reducing the power consumption of the controller, and the execution speed of 30MIPS shortens the instruction cycle to 33ns (30MHz); 2) Two event manager modules EVA and EVB, each including: two 16-bit general-purpose timers, eight 16-bit pulse width modulation (PWM) channels; 3) The minimum conversion time of the 10-bit A / D converter is 500ns, and two event managers can be selected to trigger two 8-channel input A / D converters or one 16-bit channel input A / D converter.

8. The multifunctional rice planting unmanned plant protection system according to claim 3 is characterized by: The microprocessor uses a high-performance, low-cost, low-power 32-bit ARM Cortex-M3 core, has up to 128kB of embedded flash memory, 20kB of SRAM and very rich peripherals: two 1μs 12-bit ADCs, 1 full-speed USB (OTG) interface, 1 CAN interface, 3 4M / S UARTs, 2 18M / S SPIs, 2 I2Cs, etc., and also integrates a reset circuit, low voltage detection, a voltage regulator, a precise RC oscillator, etc. at 72MHz, consumes 36mA (all peripherals are in working state), equivalent to 0.5mA / MHz, and drops to 2μA in standby mode. At the same time, the rich I / O interfaces of the STM32F103 series microcontrollers can communicate efficiently with the sensor module.

9. The multifunctional rice planting unmanned plant protection system according to claim 3, characterized in that: The flight control system uses the DJI N3 AG model. The N3 multi-rotor flight control system uses DJI's latest control and navigation algorithm. The newly added built-in dual IMU redundant design realizes real-time data backup. Combined with the new internal shock-absorbing structure design, it gives the aircraft high reliability; the "black box" data recording system provides accurate data support for flight performance analysis. At the same time, support for a series of DJI accessories including Lightbridge 2 and DJI Assistant 2, high-performance software, SDK and A3 Upgrade Kit high-performance navigation modules helps the aircraft achieve rich application expansion.

10. The operation process of the multifunctional rice planting unmanned plant protection system according to any one of claims 1 to 8, characterized in that: The specific steps include: Step S10: First, the GPS positioning module realizes self-positioning, the unmanned plant protection aircraft takes off, determines a corner point closest to the unmanned plant protection aircraft as the starting point of this mission, and automatically flies to the point; Step S20: Secondly, the image processing module continuously takes pictures and extracts picture information to accurately obtain the position of rice and fine-tune the spraying position of the unmanned plant protection machine in real time; Step S30: Then, the algorithm optimization module identifies the information of rice in the image and transmits the information to the sensor distance measurement module; Step S40: Finally, the sensor distance measurement module is started, and the output voltage of this module increases as the distance decreases.

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