Control system based on accurate pesticide spreading device of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control system based on an accurate pesticide spreading device of an unmanned aerial vehicle, which comprises a vehicle body provided with a flight module and a spraying module; the data acquisition integration is arranged on the unmanned aerial vehicle body, comprises a plurality of types of sensors and can acquire environment information and position information of the unmanned aerial vehicle; and the data processing unit is arranged on the unmanned aerial vehicle body, is connected with the data acquisition integration and can regulate and control the flight mode and the pesticide spreading mode of the unmanned aerial vehicle according to the data information acquired by the data acquisition integration. Due to the integrated design, the unmanned aerial vehicle can respond to environment changes in real time, such as wind speed and wind direction, so that the flight path and the spraying mode are optimized. The spraying efficiency of the pesticide is improved, waste of the pesticide is reduced, the environment is protected, and pollution of the pesticide to a non-target area is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a control system based on an unmanned aerial vehicle precision spraying device. Background Art

[0002] The traditional system has significant shortcomings in the precise control of the amount of pesticide, making it difficult to accurately apply pesticides in accordance with the actual needs of crops, resulting in an imbalance in the distribution of pesticide dosage, reduced prevention and control effectiveness, and easily causing excessive loss of pesticides and environmental pollution. Furthermore, faced with complex and changeable terrain, such as steep cliffs and deep valleys in the mountains, rolling slopes of the hills, and harsh weather conditions with rapidly changing wind direction and wind speed, the flight stability and spraying accuracy of drones have been severely damaged, and they are unable to dynamically and flexibly adjust the operating parameters, making it difficult to match the stringent demands of modern agriculture for refined and green plant protection operations.

[0003] Chinese Patent Publication No.: CN115723950A discloses a drone for spraying pesticides, comprising: a chassis; a connecting seat assembly, the connecting seat assembly is fixedly connected to the base; a driving rotating frame device, the driving rotating frame device is connected to the connecting seat assembly; a liquid storage tank assembly, the liquid storage tank assembly is connected to the connecting seat assembly; a linkage spraying device, the linkage spraying device is connected to the bottom side of the connecting seat assembly; wherein the liquid storage tank assembly comprises: a linkage liquid mixing assembly, the linkage liquid mixing assembly is connected to the connecting seat assembly; a transmission assembly, the transmission assembly is connected to the connecting seat assembly, and while the device drives the rotating device to provide lift drive for the drone equipment, it can cooperate with the linkage liquid mixing assembly to achieve mixing of the liquid inside the liquid storage tank assembly.

[0004] When pesticides are currently sprayed by drones, the spraying is uneven due to environmental influences, and the crop absorption of the pesticides is poor. Summary of the invention

[0005] To this end, the present invention provides a control system based on a UAV precision spraying device, which is used to overcome the problems in the prior art that when the current UAV pesticide spraying is affected by the environment, the spraying is uneven and the drug absorption effect of crops is poor.

[0006] To achieve the above-mentioned purpose, the present invention provides a control system based on a drone precision spraying device, comprising: A control system based on an unmanned aerial vehicle precision spraying device, comprising: A fuselage, on which a flight module and a spraying module are arranged; Data acquisition integration, which is arranged on the body and includes several types of sensors, capable of acquiring environmental information and location information of the drone; A data processing unit, which is arranged on the body and connected to the data acquisition integration, and can adjust the working modes of the flight module and the spraying module according to the data information acquired by the data acquisition integration; When the working mode of the flight module is regulated, under the same working mode, the content of regulation is different according to different data conditions acquired by the data acquisition integration.

[0007] Furthermore, the data acquisition integration includes: A locator, which can detect the location of the drone; A speed detection device capable of detecting the flight speed of the drone; The wind data acquisition sensor group can obtain the wind speed and direction of the drone's environment.

[0008] Furthermore, the spraying module comprises: A liquid medicine storage tank is used to store the liquid medicine to be sprayed, and a plurality of liquid medicine storage tanks are provided; A spray head, the opening of which can be adjusted, for spraying liquid medicine; A connecting pipe, used for conveying the liquid medicine to be sprayed to the spray head; A pressure pump is connected to the connecting pipe and is used to pressurize the inside of the connecting pipe to ensure smooth spraying.

[0009] Furthermore, for a spray module provided with a liquid medicine storage tank, the connecting pipe directly transports the liquid medicine to be sprayed to the spray head; For a spray module provided with two or more liquid medicine storage tanks, the spray module further comprises a mixing chamber connected to each liquid medicine storage tank, and the connecting pipe is connected to the mixing chamber to transport the liquid medicine to be sprayed to the spray head.

[0010] Furthermore, the flight module includes: A flight power unit, used to provide flight power for the flight of the aircraft; A direction control unit is connected to the flight power unit and is used to control the output direction of the flight power.

[0011] Furthermore, the wind data acquisition sensor group detects the wind speed and wind direction of the environment in which the drone is located, and transmits the detection results to the data processing unit; the data processing unit compares the acquired wind speed and wind direction data with the preset monitoring data to determine whether to adjust the working modes of the flight module and the spraying module.

[0012] Furthermore, the data processing unit is provided with a first flight mode, a second flight mode, and a third flight mode; wherein, The first flight mode is a preset standard flight mode. In the first flight mode, the flight module and the spraying module operate according to their respective preset standard operating modes; The second flight mode is a flight power control mode. In the second flight mode, the spraying module works according to a preset standard working mode, and the flight module adjusts the standard working mode according to the data acquired by the data acquisition integration; The third flight mode is a joint control mode. In the third flight mode, both the flight module and the spraying module adjust the standard working mode according to the data acquired by the data acquisition integration.

[0013] Furthermore, the data acquisition integration acquires the wind speed and wind direction of the environment in which the aircraft is located, performs data analysis based on the acquired wind speed and wind direction, and determines the flight mode of the aircraft based on the analysis result.

[0014] Furthermore, the data acquisition integration acquires the ambient wind speed, and compares the acquired ambient wind speed with a preset wind speed value. If the ambient wind speed is less than or equal to the first preset wind speed value, it is determined that the aircraft is operating in the first flight mode; If the ambient wind speed is greater than the first preset wind speed value and less than or equal to the second preset wind speed value, the flight mode of the aircraft is determined by the wind direction and the preset travel direction of the aircraft; If the ambient wind speed is greater than the second preset wind speed value and less than or equal to the third preset wind speed value, it is determined that the aircraft is operating in the second flight mode; If the ambient wind speed is greater than the third preset wind speed value and less than or equal to the fourth preset wind speed value, it is determined that the aircraft is operating in the third flight mode.

[0015] Furthermore, when the aircraft body operates in the second flight mode, the angle value is compared with the fifth preset angle value. If the angle value is less than or equal to the fifth preset angle value, the power of the machine body is reduced; If the angle value is greater than the fifth preset angle value, the power direction of the aircraft is adjusted, and the aircraft flies back and forth in a "lightning" shape.

[0016] Compared with the prior art, the beneficial effect of the present invention is that the integrated design enables the drone to respond to environmental changes, such as wind speed and wind direction, in real time, thereby optimizing the flight path and spraying pattern. This not only improves the spraying efficiency of pesticides, but also reduces the waste of pesticides, while protecting the environment and avoiding the pollution of pesticides to non-target areas; the coordination of the positioning instrument, speed detection device and wind data acquisition sensor group realizes real-time monitoring and adjustment of the drone's flight status and spraying effect. This intelligent control mechanism can significantly improve the accuracy of operations, reduce human errors, ensure the uniform distribution of pesticides, improve the protection effect of crops, and also reduce the risk of equipment damage caused by improper operation.

[0017] Furthermore, the design of the spray module allows the adjustment of the opening of the spray head and the delivery of the liquid medicine, and the uniformity and coverage of the liquid medicine spraying are ensured by the pressure pump, thereby improving the efficiency of pesticide use. This modular design allows the spraying mode to be flexibly adjusted according to the needs of different crops and pests and diseases, and achieves precise pesticide application. This not only improves the effective utilization rate of pesticides, but also reduces pollution to the environment, while also reducing the damage to crops caused by excessive pesticides.

[0018] Furthermore, through the design of the mixing chamber, different liquid medicines can be mixed and sprayed, enhancing the compatibility and effect of pesticides. This design allows farmers to flexibly allocate pesticides according to different pest and disease conditions, and realize the spraying of multiple pesticides in one flight, which improves the flexibility and efficiency of operations. At the same time, this also helps to reduce pesticide residues, protect soil and water sources, and is environmentally friendly.

[0019] Furthermore, by comparing the preset basic spraying mode with the real-time wind speed and direction data, the UAV flight power and spray head opening can be intelligently adjusted to adapt to different environmental conditions. This intelligent adjustment mechanism can ensure that the UAV can maintain a stable spraying effect under different wind speeds and wind directions, reduce pesticide drift, increase the effective coverage of pesticides, and also reduce the operational risks caused by environmental changes.

[0020] Furthermore, by setting the wind force determination threshold, the flight and spraying behavior of the drone can be controlled in a hierarchical manner, thus improving the adaptability and flexibility of the system. This hierarchical control strategy can automatically adjust the flight speed and spraying mode of the drone according to the different wind force levels, ensuring the best spraying effect under various weather conditions. This not only improves the safety of the operation, but also reduces the waste of pesticides caused by wind force changes.

[0021] Furthermore, by acquiring and processing angle information, the UAV's flight power and direction can be finely controlled to adapt to different wind conditions and improve the uniformity and efficiency of spraying. This fine control can reduce pesticide drift, ensure that pesticides accurately cover the target area, and improve the effective utilization of pesticides. At the same time, this also helps to reduce the impact of pesticides on non-target areas and protect the environment and non-target organisms.

[0022] Furthermore, when the ambient wind speed is relatively low, it will not affect the heading of the drone and the spraying direction of the liquid medicine, so there is no need to adjust the working mode of the fuselage. When the wind speed increases to a certain level, the mass of the fuselage is larger and is less affected by the wind speed, but the sprayed liquid will be offset by the wind. Therefore, by detecting the angle between the wind direction and the preset travel direction of the fuselage, it is determined whether to adjust the working mode of the flight module to ensure that the pesticide can be sprayed reasonably.

[0023] For the case where the angle is less than or equal to the first preset angle value or greater than or equal to the second preset angle value, it means that the area where the sprayed liquid deviates is similar to the area corresponding to the aircraft route, and the area where the liquid falls is basically the same as the preset area. Therefore, the aircraft operates in the standard working mode, which ensures that the area where the liquid falls is reasonable, reduces the control of the equipment and ensures the stability of operation.

[0024] When the angle is less than 90°, considering that the liquid medicine is affected by the "tailwind", after the aircraft flies over the area, the liquid medicine will fall diagonally in front of the area. Therefore, by reducing the power of the aircraft, insufficient liquid medicine in the spraying area can be prevented.

[0025] When the angle value is greater than 90°, affected by the headwind, the liquid medicine will scatter behind the body under the influence of the wind after the body flies over. Therefore, the power direction of the body is adjusted. After a certain distance, the body moves horizontally. During the horizontal movement, the sprayed liquid medicine will be sprayed to the oblique rear area that has passed under the wind force, ensuring that the liquid medicine can be sprayed to all areas. Different adjustment directions are set for different wind directions to adapt to different environmental requirements. In the case of high wind speed, it may affect the running speed of the body. Therefore, by detecting the moving distance of the body, determining its speed, and adjusting the pressure pump according to the speed, the amount of sprayed liquid medicine is controlled to ensure the rationality of spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural block diagram of a control system based on a drone precision spraying device in an embodiment; Figure 2 It is a schematic diagram of the running route of the aircraft body flying back and forth in a "lightning" shape in the embodiment. DETAILED DESCRIPTION

[0027] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0029] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0030] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See also Figure 1 , Figure 1 It is a structural block diagram of a control system based on a drone precision spraying device in an embodiment; The present invention provides a control system based on an unmanned aerial vehicle precision spraying device, comprising: A fuselage, on which a flight module and a spraying module are arranged; Data acquisition integration, which is arranged on the body and includes several types of sensors, capable of acquiring environmental information and location information of the drone; A data processing unit, which is arranged on the body and connected to the data acquisition integration, and can adjust the working modes of the flight module and the spraying module according to the data information acquired by the data acquisition integration; When the working mode of the flight module is regulated, under the same working mode, the content of regulation is different according to different data conditions acquired by the data acquisition integration.

[0032] The data acquisition integration includes: A locator, which can detect the location of the drone; A speed detection device capable of detecting the flight speed of the drone; The wind data acquisition sensor group can obtain the wind speed and direction of the drone's environment.

[0033] Compared with the prior art, the beneficial effect of the present invention is that the integrated design enables the drone to respond to environmental changes, such as wind speed and wind direction, in real time, thereby optimizing the flight path and spraying pattern. This not only improves the spraying efficiency of pesticides, but also reduces the waste of pesticides, while protecting the environment and avoiding the pollution of pesticides to non-target areas; the coordination of the positioning instrument, speed detection device and wind data acquisition sensor group realizes real-time monitoring and adjustment of the drone's flight status and spraying effect. This intelligent control mechanism can significantly improve the accuracy of operations, reduce human errors, ensure the uniform distribution of pesticides, improve the protection effect of crops, and also reduce the risk of equipment damage caused by improper operation.

[0034] The spraying module comprises: A liquid medicine storage tank is used to store the liquid medicine to be sprayed, and a plurality of liquid medicine storage tanks are provided; A spray head, the opening of which can be adjusted, for spraying liquid medicine; A connecting pipe, used for conveying the liquid medicine to be sprayed to the spray head; A pressure pump is connected to the connecting pipe and is used to pressurize the inside of the connecting pipe to ensure smooth spraying.

[0035] The design of the spray module allows the adjustment of the opening of the spray head and the delivery of the liquid medicine. The pressure pump ensures the uniformity and coverage of the liquid medicine spraying, thereby improving the efficiency of pesticide use. This modular design allows the spraying mode to be flexibly adjusted according to the needs of different crops and pests and diseases, achieving precise pesticide application. This not only improves the effective utilization rate of pesticides, but also reduces pollution to the environment, while also reducing the damage to crops caused by excessive pesticides.

[0036] For a spraying module provided with a liquid medicine storage tank, the connecting pipe directly transports the liquid medicine to be sprayed to the spraying head; For a spray module provided with two or more liquid medicine storage tanks, the spray module further comprises a mixing chamber connected to each liquid medicine storage tank, and the connecting pipe is connected to the mixing chamber to transport the liquid medicine to be sprayed to the spray head.

[0037] The design of the mixing chamber allows mixed spraying of different liquid pesticides, enhancing the compatibility and effectiveness of pesticides. This design allows farmers to flexibly allocate pesticides according to different pest and disease conditions, achieving the spraying of multiple pesticides in one flight, improving the flexibility and efficiency of operations. At the same time, this also helps reduce pesticide residues, protect soil and water sources, and is environmentally friendly.

[0038] The flight module comprises: A flight power unit, used to provide flight power for the flight of the aircraft; A direction control unit is connected to the flight power unit and is used to control the output direction of the flight power.

[0039] The data processing unit is provided with a first flight mode, a second flight mode, and a third flight mode; wherein, The first flight mode is a preset standard flight mode. In the first flight mode, the flight module and the spraying module operate according to their respective preset standard operating modes; The second flight mode is a flight power control mode. In the second flight mode, the spraying module works according to a preset standard working mode, and the flight module adjusts the standard working mode according to the data acquired by the data acquisition integration; The third flight mode is a joint control mode. In the third flight mode, both the flight module and the spraying module adjust the standard working mode according to the data acquired by the data acquisition integration.

[0040] By setting the wind force judgment threshold, the flight and spraying behavior of the drone can be controlled in a hierarchical manner, which improves the adaptability and flexibility of the system. This hierarchical control strategy can automatically adjust the flight speed and spraying mode of the drone according to the different levels of wind force, ensuring the best spraying effect under various weather conditions. This not only improves the safety of the operation, but also reduces the waste of pesticides caused by wind force changes. By acquiring and processing the angle information, the flight power and direction of the drone can be finely controlled to adapt to different wind direction conditions and improve the uniformity and efficiency of spraying. This fine control can reduce pesticide drift, ensure that the pesticide accurately covers the target area, and improve the effective utilization rate of the pesticide. At the same time, this also helps to reduce the impact of pesticides on non-target areas and protect the environment and non-target organisms.

[0041] The data acquisition integration acquires the wind speed and wind direction of the environment in which the aircraft is located, performs data analysis based on the acquired wind speed and wind direction, and determines the flight mode of the aircraft based on the analysis result.

[0042] The data acquisition integration acquires the ambient wind speed and compares the acquired ambient wind speed with a preset wind speed value. If the ambient wind speed is less than or equal to the first preset wind speed value, it is determined that the aircraft is operating in the first flight mode; If the ambient wind speed is greater than the first preset wind speed value and less than or equal to the second preset wind speed value, the flight mode of the aircraft is determined by the wind direction and the preset travel direction of the aircraft; If the ambient wind speed is greater than the second preset wind speed value and less than or equal to the third preset wind speed value, it is determined that the aircraft is operating in the second flight mode; If the ambient wind speed is greater than the third preset wind speed value and less than or equal to the fourth preset wind speed value, it is determined that the aircraft is operating in the third flight mode.

[0043] If the ambient wind speed is greater than the fourth preset wind speed value, it is determined that it is not suitable for spraying pesticides at present, and the data processing unit controls the aircraft to return.

[0044] When the ambient wind speed is relatively low, it will not affect the heading of the drone and the spraying direction of the liquid, so there is no need to adjust the working mode of the aircraft. When the wind speed increases to a certain level, the mass of the aircraft is larger and is less affected by the wind speed, but the sprayed liquid will be offset by the wind. Therefore, by detecting the angle between the wind direction and the preset direction of travel of the aircraft, it is determined whether to adjust the working mode of the flight module to ensure that the pesticide can be sprayed reasonably.

[0045] In this embodiment, the first preset wind speed value is set to 5km / h, the second preset wind speed value is set to 7km / h, the third preset wind speed value is set to 10km / h, and the fourth preset wind speed value is set to 13km / h.

[0046] When the ambient wind speed is greater than the first preset wind speed value and less than or equal to the second preset wind speed value, the angle value between the wind direction and the moving direction of the aircraft is obtained, and the working mode of the flight module is determined according to the angle value.

[0047] If the angle value is less than or equal to the first preset angle value, or greater than or equal to the second preset angle value, it is determined that the aircraft is operating in the first flight mode.

[0048] In this embodiment, the first preset angle value is 20°, and the second preset angle value is 160°.

[0049] For the case where the angle is less than or equal to the first preset angle value or greater than or equal to the second preset angle value, it means that the area where the sprayed liquid deviates is similar to the area corresponding to the aircraft route, and the area where the liquid falls is basically the same as the preset area. Therefore, the aircraft operates in the standard working mode, which ensures that the area where the liquid falls is reasonable, reduces the control of the equipment and ensures the stability of operation.

[0050] See also Figure 2 , Figure 2 Schematic diagram of the flight route of the aircraft body in the embodiment of the reciprocating flight in a "lightning" shape. In the figure, A1 is the original flight direction of the aircraft body, A2 is the detected wind direction, A3 is the flight direction of the aircraft body after adjustment in the second working mode, 1 is the oblique route, 2 is the lateral route, 21 is the stop section, and 22 is the spraying section.

[0051] If the angle value is greater than the first preset angle value and less than the second preset angle value, it is determined that the aircraft is operating in the second flight mode.

[0052] When the aircraft is operating in the second flight mode, the angle value is compared with the fifth preset angle value. If the angle value is less than or equal to the fifth preset angle value, the power of the machine body is reduced; If the angle value is greater than the fifth preset angle value, the power direction of the aircraft is adjusted, and the aircraft flies back and forth in a "lightning" shape.

[0053] The fifth preset angle value is 90°.

[0054] When the angle is less than 90°, considering that the liquid medicine is affected by the "tailwind", after the aircraft flies over the area, the liquid medicine will fall diagonally in front of the area. Therefore, by reducing the power of the aircraft, insufficient liquid medicine in the spraying area can be prevented.

[0055] If the angle value is greater than the fifth preset angle value, the operating angle of the machine body is adjusted to divide the operating route of the machine body into an oblique route and a lateral route, wherein the angle value between the oblique route and the preset operating route of the machine body is the first adjustment angle value or the second adjustment angle value, and the angle value between the lateral route and the preset operating route of the machine body is 90°.

[0056] If the angle between the wind direction and the traveling direction of the machine body is greater than or equal to the sixth preset angle value, the angle between the oblique route and the preset running route of the machine body is the first adjustment angle value, otherwise it is the second adjustment angle value; After adjusting the power direction, the angle between the running direction of the machine body and the wind direction increases.

[0057] In this embodiment, the first adjustment angle value is 30°, the second adjustment angle value is 60°, and the sixth preset angle value is 135°.

[0058] The lateral route is divided into two sections, one is a spraying section, and the other is a stopping section. When navigating in the spraying section, the spraying module starts spraying, and when navigating in the stopping section, the spraying module stops spraying.

[0059] When the angle value is greater than 90°, affected by headwind, the medicine liquid will scatter behind the aircraft under the influence of wind after the aircraft flies over. Therefore, the power direction of the aircraft is adjusted. After a certain distance, the aircraft moves laterally. During the lateral movement, the sprayed medicine liquid will be sprayed to the oblique rear area that has passed under the influence of wind force, ensuring that the medicine liquid can be sprayed to all areas. Different adjustment directions are set for different wind directions to adapt to different environmental requirements.

[0060] If it is determined that the aircraft is operating in the third flight mode, the data processing unit adjusts the working mode of the flight module according to the second flight mode, and the positioning instrument periodically detects the flight distance of the aircraft and compares it with the preset distance interval. If the flight distance is within the preset distance range, the working mode of the spraying module will not be adjusted; If the flight distance is not within the preset distance interval and is less than the preset distance interval, the force of the booster pump in the spray module is reduced; If the flying distance is not within the preset distance interval and is greater than the preset distance interval, the force of the booster pump in the spraying module is increased.

[0061] In the case of high wind speed, it may affect the running speed of the machine. Therefore, by detecting the moving distance of the machine, its speed is determined, and the pressure pump is adjusted according to the speed to control the amount of sprayed liquid and ensure the rationality of spraying.

[0062] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control system based on an unmanned aerial vehicle precision spraying device, characterized in that: include, A fuselage, on which a flight module and a spraying module are arranged; Data acquisition integration, which is arranged on the body and includes several types of sensors, capable of acquiring environmental information and location information of the drone; A data processing unit, which is arranged on the body and connected to the data acquisition integration, and can adjust the working modes of the flight module and the spraying module according to the data information acquired by the data acquisition integration; When the working mode of the flight module is regulated, under the same working mode, the content of regulation is different according to different data conditions acquired by the data acquisition integration.

2. The control system based on the drone precision spraying device according to claim 1 is characterized in that: The data acquisition integration includes: A locator, which can detect the location of the drone; A speed detection device capable of detecting the flight speed of the drone; The wind data acquisition sensor group can obtain the wind speed and direction of the drone's environment.

3. The control system based on the drone precision spraying device according to claim 2 is characterized in that: The spraying module comprises: A liquid medicine storage tank is used to store the liquid medicine to be sprayed, and a plurality of liquid medicine storage tanks are provided; A spray head, the opening of which can be adjusted, for spraying liquid medicine; A connecting pipe, used for conveying the liquid medicine to be sprayed to the spray head; A pressure pump is connected to the connecting pipe and is used to pressurize the inside of the connecting pipe to ensure smooth spraying.

4. The control system based on the drone precision spraying device according to claim 3 is characterized in that: For a spraying module provided with a liquid medicine storage tank, the connecting pipe directly transports the liquid medicine to be sprayed to the spraying head; For a spray module provided with two or more liquid medicine storage tanks, the spray module further comprises a mixing chamber connected to each liquid medicine storage tank, and the connecting pipe is connected to the mixing chamber to transport the liquid medicine to be sprayed to the spray head.

5. The control system based on the drone precision spraying device according to claim 3 is characterized in that: The flight module comprises: A flight power unit, used to provide flight power for the flight of the aircraft; A direction control unit is connected to the flight power unit and is used to control the output direction of the flight power.

6. The control system based on the drone precision spraying device according to claim 5 is characterized in that: The wind data acquisition sensor group detects the wind speed and wind direction of the environment in which the drone is located, and transmits the detection results to the data processing unit; the data processing unit compares the acquired wind speed and wind direction data with the preset monitoring data to determine whether to adjust the working mode of the flight module and the spraying module.

7. The control system based on the drone precision spraying device according to claim 1 is characterized in that: The data processing unit is provided with a first flight mode, a second flight mode, and a third flight mode; wherein, The first flight mode is a preset standard flight mode. In the first flight mode, the flight module and the spraying module operate according to their respective preset standard operating modes; The second flight mode is a flight power control mode. In the second flight mode, the spraying module works according to a preset standard working mode, and the flight module adjusts the standard working mode according to the data acquired by the data acquisition integration; The third flight mode is a joint control mode. In the third flight mode, both the flight module and the spraying module adjust the standard working mode according to the data acquired by the data acquisition integration.

8. The control system based on the drone precision spraying device according to claim 7 is characterized in that: The data acquisition integration acquires the wind speed and wind direction of the environment in which the aircraft is located, performs data analysis based on the acquired wind speed and wind direction, and determines the flight mode of the aircraft based on the analysis result.

9. The control system based on the drone precision spraying device according to claim 8 is characterized in that: The data acquisition integration acquires the ambient wind speed and compares the acquired ambient wind speed with a preset wind speed value. If the ambient wind speed is less than or equal to the first preset wind speed value, it is determined that the aircraft is operating in the first flight mode; If the ambient wind speed is greater than the first preset wind speed value and less than or equal to the second preset wind speed value, the flight mode of the aircraft is determined by the wind direction and the preset travel direction of the aircraft; If the ambient wind speed is greater than the second preset wind speed value and less than or equal to the third preset wind speed value, it is determined that the aircraft is operating in the second flight mode; If the ambient wind speed is greater than the third preset wind speed value and less than or equal to the fourth preset wind speed value, it is determined that the aircraft is operating in the third flight mode.

10. The control system based on the drone precision spraying device according to claim 9 is characterized in that: When the aircraft is operating in the second flight mode, the angle value is compared with the fifth preset angle value. If the angle value is less than or equal to the fifth preset angle value, the power of the machine body is reduced; If the angle value is greater than the fifth preset angle value, the power direction of the aircraft is adjusted, and the aircraft flies back and forth in a "lightning" shape.

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