A precise pesticide application method and device based on canopy undulation and density

Abstract

The present invention provides a precise pesticide application method and device based on canopy undulation and density, which are applied to the field of agricultural automation technology. The method includes: obtaining canopy information of the fruit tree pesticide application area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; performing adaptive layering processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain multiple layered areas, and respectively performing canopy undulation pesticide application compensation on each layered area, where the equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; performing canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; wherein, the pesticide application amount for the undulating canopy is greater than that for the flat canopy, and the pesticide application amount for the sparse canopy is greater than that for the dense canopy.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural automation, and particularly to a precise pesticide application method and device based on canopy undulation and density. Background Art

[0002] In today's agricultural field, with the rapid development of technology, the deep integration of agricultural automation technology and unmanned aerial vehicle (UAV) technology has led to the wide application of plant protection UAVs in agricultural production. Especially in the field of precise pesticide application, they have obvious advantages in improving production efficiency and reducing labor intensity, and play a key role in enhancing the utilization rate of pesticides.

[0003] In the prior art, most plant protection UAVs adjust the pesticide application amount based on the planar projection area of the crop canopy, and determine the specific pesticide application amount through the spraying width and traveling speed of the aircraft. This method can achieve certain effects during the pesticide application process for field crops with relatively flat canopies such as corn and wheat.

[0004] However, when applying pesticides to fruit trees with large canopy undulations, due to the complex undulation conditions of the fruit tree canopy, the uniformity of pesticide deposition on the fruit tree canopy becomes poor with the pesticide application method based on the planar projection area. In areas with large canopy undulation degrees, it is difficult to obtain the same uniform liquid pesticide deposition on the surface of the fruit tree canopy as that on a flat canopy, while overspraying occurs in the area outside the fruit tree edge. This not only reduces the effective utilization rate of pesticides, but also has a negative impact on the control effect of pests and diseases, and may even pollute the environment due to excessive liquid pesticide deposition and increase the pesticide residues in agricultural products. Summary of the Invention

[0005] The present invention provides a precise pesticide application method and device based on canopy undulation and density to solve the problem that the existing plant protection UAVs in the pesticide application process cannot be applied to areas with large canopy undulations.

[0006] The present invention provides a precise pesticide application method based on canopy undulation and density, including: obtaining the canopy information of the fruit tree pesticide application area, where the canopy information includes the canopy surface area, the canopy projection area, and the canopy point cloud density information; performing adaptive hierarchical processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain multiple hierarchical areas, and respectively performing canopy undulation pesticide application compensation on each hierarchical area, where the equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; performing canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; wherein, the pesticide application amount for the undulating canopy is greater than that for the flat canopy, and the pesticide application amount for the sparse canopy is greater than that for the dense canopy.

[0007] A precise pesticide application method based on canopy undulation and density provided by the present invention, wherein the canopy of the pesticide application area of the fruit tree is adaptively stratified according to the equivalent curvature factor to obtain a plurality of stratified areas, including: determining the initial layer thickness of the current canopy according to the fruit tree type and the fruit tree height; determining the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the next adjacent canopy; when the equivalent curvature change rate is greater than the first threshold, reducing the canopy thickness of the current canopy on the basis of the initial layer thickness; when the equivalent curvature change rate is less than or equal to the first threshold, increasing the canopy thickness of the current canopy on the basis of the initial layer thickness.

[0008] A precise pesticide application method based on canopy undulation and density provided by the present invention, wherein the final layer thickness of the current canopy is within a preset thickness range.

[0009] A precise pesticide application method based on canopy undulation and density provided by the present invention, wherein the canopy undulation pesticide application compensation is respectively carried out on each stratified area, including: determining the reference pesticide application amount of the flat canopy with the largest density in the first stratified area, and the reference pesticide application amount is the product of the reference pesticide application amount per unit area and the projected area; determining the canopy undulation pesticide application compensation amount as the product of the equivalent curvature factor of the first stratified area and the reference pesticide application amount; carrying out canopy undulation pesticide application compensation on the first stratified area based on the canopy undulation pesticide application compensation amount; wherein, the first stratified area is one of the plurality of stratified areas.

[0010] A precise pesticide application method based on canopy undulation and density provided by the present invention, wherein the canopy density pesticide application compensation is carried out on the pesticide application area of the fruit tree according to the canopy point cloud density information, including: determining the maximum pesticide application amount per unit area as the ratio of the canopy undulation pesticide application compensation amount to the canopy surface area; determining the reference pesticide application amount per unit area of the second stratified area based on the non-linear mapping function; determining the unit area density pesticide application compensation amount as the difference between the reference pesticide application amount per unit area and the maximum pesticide application amount per unit area; carrying out canopy density pesticide application compensation on the second stratified area based on the unit area density pesticide application compensation amount.

[0011] A precise pesticide application method based on canopy undulation and density provided by the present invention, after obtaining the canopy information of the fruit tree pesticide application area, the method further includes: identifying the edge area of the fruit tree canopy and carrying out fixed-point pesticide application compensation on the edge area.

[0012] The present invention also provides a precise pesticide application device based on canopy undulation and density, which includes the following modules: an acquisition module and a processing module; the acquisition module is used to acquire the canopy information of the fruit tree pesticide application area, and the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; the processing module is used to perform adaptive stratification processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain multiple stratified areas, and perform canopy undulation pesticide application compensation on each stratified area respectively, where the equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; perform canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; among them, the pesticide application amount of the undulating canopy is greater than that of the flat canopy, and the pesticide application amount of the sparse canopy is greater than that of the dense canopy.

[0013] According to the precise pesticide application device based on canopy undulation and density provided by the present invention, the processing module is used to determine the initial layer thickness of the current canopy according to the fruit tree type and the fruit tree height; determine the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the adjacent next canopy; in the case where the equivalent curvature change rate is greater than the first threshold, reduce the canopy thickness of the current canopy on the basis of the initial layer thickness; in the case where the equivalent curvature change rate is less than or equal to the first threshold, increase the canopy thickness of the current canopy on the basis of the initial layer thickness.

[0014] According to the precise pesticide application device based on canopy undulation and density provided by the present invention, the final layer thickness of the current canopy is within a preset thickness range.

[0015] According to the precise pesticide application device based on canopy undulation and density provided by the present invention, the processing module is used to determine the reference pesticide application amount of the flat canopy with the largest density in the first stratified area, and the reference pesticide application amount is the product of the reference pesticide application amount per unit area and the projection area; determine the canopy undulation pesticide application compensation amount as the product of the equivalent curvature factor of the first stratified area and the reference pesticide application amount; perform canopy undulation pesticide application compensation on the first stratified area based on the canopy undulation pesticide application compensation amount; where the first stratified area is one of the multiple stratified areas.

[0016] According to the precise pesticide application device based on canopy undulation and density provided by the present invention, the processing module is used to determine the maximum pesticide application amount per unit area by determining the ratio of the canopy undulation pesticide application compensation amount to the canopy surface area; determine the reference unit pesticide application amount of the second stratified area based on the non-linear mapping function; determine the unit area density pesticide application compensation amount as the difference between the reference unit pesticide application amount and the maximum pesticide application amount per unit area; perform canopy density pesticide application compensation on the second stratified area based on the unit area density pesticide application compensation amount.

[0017] A precise pesticide application device based on canopy undulation and density provided by the present invention, the processing module is used to identify the edge area of the fruit tree canopy and perform fixed-point pesticide application compensation on the edge area.

[0018] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the precise pesticide application method based on canopy undulation and density as described in any one of the above.

[0019] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the precise pesticide application method based on canopy undulation and density as described in any one of the above.

[0020] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the precise pesticide application method based on canopy undulation and density as described in any one of the above.

[0021] The precise pesticide application method and device based on canopy undulation and density provided by the present invention can not only adaptively stratify the canopy of the fruit tree pesticide application area according to the equivalent curvature factor, and perform canopy undulation pesticide application compensation on each stratified area respectively, but also perform canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information. In this way, precise pesticide application and differential control of different hierarchical areas can be achieved, significantly improving the precision and uniformity of pesticide application, and ensuring uniform coverage of the liquid medicine on different undulating surfaces and density areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a schematic flowchart of the precise pesticide application method based on canopy undulation and density provided by the present invention;

[0024] Figure 2 is a schematic diagram of the division of the canopy undulation area provided by the present invention;

[0025] Figure 3 is a schematic diagram of precise pesticide application for canopy undulation provided by the present invention;

[0026] Figure 4 is a schematic diagram of precise pesticide application for the canopy sparse area and the canopy edge area provided by the present invention;

[0027] Figure 5 It is a schematic structural diagram of the precise pesticide application device based on canopy undulation and density provided by the present invention;

[0028] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. Detailed implementation manners

[0029] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0030] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0031] It should be noted that in this document, the term "comprising", "including", or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0032] To facilitate a clear description of the technical solutions in the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order.

[0033] The embodiments of the present application describe some exemplary embodiments for the purpose of illustration. It should be understood that the present application can be implemented in other ways not specifically shown in the drawings.

[0034] As Figure 1 shown, the embodiments of the present application provide a precise pesticide application method based on canopy undulation and density. This precise pesticide application method based on canopy undulation and density can be applied to a precise pesticide application device based on canopy undulation and density. The precise pesticide application device based on canopy undulation and density can be any one of the following: agricultural operation platforms such as plant protection drones, self-propelled sprayers, and rail-mounted pesticide application robots. The precise pesticide application method based on canopy undulation and density includes S101 - S103:

[0035] S101. The precise pesticide application device based on canopy undulation and density obtains the canopy information of the fruit tree pesticide application area.

[0036] Among them, the above canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information.

[0037] Optionally, the precise pesticide application device based on canopy undulation and density can use multiple sensors to work together to obtain the canopy information of the fruit tree pesticide application area. The sensor fusion methods can include the following three:

[0038] (1) Inertial Measurement Unit (IMU) and lidar

[0039] Lidar is a device for obtaining spatial information. By emitting laser beams and measuring the time it takes for them to reflect back, it constructs the point cloud data of the surrounding environment. When obtaining canopy information, it can scan the shape, structure, etc. of the canopy. The IMU can accurately measure the attitude angles of the device, including roll, pitch, and yaw angles.

[0040] In practical applications, the attitude changes of the data acquisition platform (such as a drone) will cause errors in laser scanning. For example, the jitter or tilt of the drone during flight will cause the scanning angle of the lidar to deviate, thus affecting the accuracy of the point cloud data. The accurate attitude angle information provided by the IMU can be used to correct these errors caused by the platform attitude changes, ensuring that the obtained point cloud data accurately reflects the actual situation of the fruit tree canopy.

[0041] (2) IMU and binocular vision system

[0042] The binocular vision system consists of two cameras. By capturing images from different angles and using the principle of stereovision for three-dimensional reconstruction. In the acquisition of canopy information, it can obtain the three-dimensional structure information of the canopy.

[0043] During flight, the data acquisition platform may experience movements such as vibrations and tilts, which can cause errors in the images captured by the binocular vision system, thereby affecting the accuracy of 3D reconstruction. The integration of the IMU can monitor the motion state of the platform in real time and correct the image data of the binocular vision system, reducing the errors caused by platform motion, improving the accuracy of the image data, and thus enhancing the accuracy of the 3D reconstruction results, making the generated 3D model of the fruit tree canopy closer to the actual situation.

[0044] (3) IMU, monocular vision, and real-time kinematic differential global positioning system

[0045] Monocular vision captures images of the fruit tree canopy through a single camera, and then combines structured light or feature point tracking technology to generate 3D point cloud data of the fruit tree canopy using the Structure from Motion (SfM) method. The IMU provides the attitude information of the UAV to help correct the influence of UAV attitude changes on the images captured by monocular vision and the generated point cloud data, ensuring the accuracy of the data. The real-time kinematic differential global positioning system provides high-precision geographic location data.

[0046] After the three are integrated, the IMU corrects the attitude error, the real-time kinematic differential global positioning system provides accurate geographic location information, and monocular vision generates 3D point cloud data. They are precisely corrected in spatial coordinates, reducing the influence of positioning errors on data accuracy and making the obtained canopy information more accurate in terms of spatial position and attitude.

[0047] Through multi-sensor fusion technology, the advantages of different sensors can be combined to overcome the limitations of a single sensor, thereby improving the accuracy and robustness of data acquisition.

[0048] At the beginning of data collection work, it is necessary to install a suitable sensor on the plant protection UAV. Subsequently, according to the terrain of the orchard and the distribution of fruit trees, a professional flight planning software is used to plan a reasonable flight route and altitude. When planning the flight route, terrain factors need to be fully considered to ensure the safety of the UAV flight while achieving full coverage of the entire orchard. Generally, the flight altitude should be maintained at a certain height above the tree canopy, and this height can be determined according to the performance parameters of the sensor and the average height of the fruit trees in the orchard. This can not only ensure that the sensor can fully cover the tree canopy and collect complete information such as the shape of the tree canopy and the color of the leaves, but also avoid the risk of collision between the UAV and the fruit trees due to too low flight altitude. At the same time, a reasonable flight speed is an important prerequisite for ensuring the continuity and uniform coverage of data collection. If the flight speed is too fast, the sensor may not be able to obtain sufficient data details in a short time, resulting in missing or unevenly collected data; if the flight speed is too slow, it will greatly extend the data collection time and reduce work efficiency. Generally, the flight speed can be set at 3 to 5 meters per second, and this speed range can enable the sensor to collect data evenly and continuously during stable flight.

[0049] After the UAV completes the flight mission, the collected image data or lidar point cloud data can be imported into professional point cloud processing software for data fusion. Since multiple sensors are used in the collection process, the data obtained by different sensors differ in format, coordinate system, and data focus. Therefore, data fusion aims to integrate these heterogeneous data into a unified and more usable data set. Then, using the attitude information provided by the IMU, the motion distortion in the point cloud data is corrected to eliminate the point cloud offset caused by the movement of the UAV, so that the corrected point cloud data can more accurately reflect the actual spatial structure of the fruit tree canopy in the orchard. After a series of data processing steps such as data fusion and motion distortion correction, a three-dimensional model is generated using the processed high-quality point cloud data to visually display the shape, structure, and spatial distribution of the fruit tree canopy.

[0050] The above three-dimensional model contains rich spatial information of the fruit tree canopy. The precise pesticide application device based on canopy undulation and density can fit a local surface through point cloud data, calculate the surface area of each layer to obtain the canopy surface area; by vertically projecting the point cloud onto the ground, calculate the coverage area of each layer to obtain the canopy projection area; determine the canopy point cloud density information according to the number of point clouds per unit volume.

[0051] S102. The precise pesticide application device based on canopy undulation and density adaptively stratifies the canopy of the fruit tree application area according to the equivalent curvature factor to obtain multiple stratified areas, and performs canopy undulation pesticide application compensation on each stratified area respectively.

[0052] Among them, the equivalent curvature factor is the ratio of the canopy surface area to the canopy projected area, and the amount of pesticide applied to the undulating canopy is greater than that to the flat canopy.

[0053] Optionally, the precise pesticide application device based on canopy undulation and density adaptively divides the canopy of the fruit tree application area into multiple stratified areas according to the equivalent curvature factor, including: determining the initial layer thickness of the current canopy according to the fruit tree type and fruit tree height; determining the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the next adjacent canopy; when the equivalent curvature change rate is greater than the first threshold, reducing the canopy thickness of the current canopy on the basis of the initial layer thickness; when the equivalent curvature change rate is less than or equal to the first threshold, increasing the canopy thickness of the current canopy on the basis of the initial layer thickness.

[0054] Specifically, the precise pesticide application device based on canopy undulation and density can first determine the initial layer thickness of the current canopy according to the fruit tree type and fruit tree height ; then determine the equivalent curvature factor based on the ratio of the canopy surface area to the canopy projected area , where represents the canopy surface area, represents the canopy projected area; then determine the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the next adjacent canopy , , where represents the equivalent curvature factor of the current canopy, represents the equivalent curvature factor of the next adjacent canopy; finally, the precise pesticide application device based on canopy undulation and density can dynamically adjust the canopy thickness of the current canopy based on the equivalent curvature change rate :

[0055] If the equivalent curvature change rate is greater than the first threshold, it indicates that the canopy morphology in this area changes greatly and requires more detailed division and reduction of the layer thickness. The precise pesticide application device based on canopy undulation and density can reduce the canopy thickness of the current canopy on the basis of the formula on the basis of the initial layer thickness to obtain the final layer thickness ;

[0056] If the equivalent curvature change rate is less than or equal to the first threshold, it indicates that the morphology in this area changes little and the layer thickness can be increased. The precise pesticide application device based on canopy undulation and density can increase the canopy thickness of the current canopy on the basis of the formula on the basis of the initial layer thickness, where is the equivalent curvature change rate adjustment coefficient.

[0057] Optionally, to prevent the layer thickness from being too thin or too thick, the precise pesticide application device based on canopy undulation and density can control the final layer thickness of the current canopy within a preset thickness range.

[0058] As Figure 2 shown, it is a schematic diagram of the division of the canopy undulation area. The fan-shaped nozzle 21 is used for pesticide application compensation, and the rotatable crossbar 22 is used to install the fan-shaped nozzle 21. The rotatable crossbar 22 can be installed directly below the fuselage of the unmanned aerial vehicle.

[0059] Optionally, the precise pesticide application device based on canopy undulation and density performs canopy undulation pesticide application compensation for each stratified area respectively, including: determining the reference pesticide application amount of the flat canopy with the largest density in the first stratified area, where the reference pesticide application amount is the product of the reference pesticide application amount per unit area and the projected area; determining the canopy undulation pesticide application compensation amount as the product of the equivalent curvature factor of the first stratified area and the reference pesticide application amount; performing canopy undulation pesticide application compensation for the first stratified area based on the canopy undulation pesticide application compensation amount; where the first stratified area is one of the multiple stratified areas.

[0060] Specifically, for areas with large canopy undulations, to obtain the same amount of liquid medicine coverage on the actual surface area of the undulating canopy as that of the flat canopy, it is necessary to appropriately increase the pesticide application amount. The canopy undulation pesticide application compensation strategy is: first calculate the reference pesticide application amount of the flat canopy with the largest density in the first stratified area i , , where represents the projected area of the first stratified area i, represents the reference pesticide application amount per unit area determined based on experiments; then determine the canopy undulation pesticide application compensation amount as the product of the equivalent curvature factor of the first stratified area and the reference pesticide application amount , where ECF represents the equivalent curvature factor of the first stratified area. The precise pesticide application device based on canopy undulation and density can perform canopy undulation pesticide application compensation for the first stratified area i based on the canopy undulation pesticide application compensation amount .

[0061] Optionally, as Figure 3 shown, the precise pesticide application device based on canopy undulation and density can divide the pesticide application area of adaptive stratification into circles and rings, and drive the fan-shaped nozzle to rotate through the rotatable crossbar to form variable pesticide application in the annular area. By adjusting relevant parameters such as the rotation speed of the crossbar, the angle of the fan-shaped nozzle, and the flow rate, the distribution of the spray is controlled, so as to adjust the width and radius of the annular area to adapt to different canopy characteristics and achieve precise spraying.

[0062] S103. The precise pesticide application device based on canopy undulation and density performs canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information.

[0063] Among them, the application rate of the sparse canopy is greater than that of the dense canopy.

[0064] Optionally, the precision pesticide application device based on canopy undulation and density can measure the canopy sparsity based on the canopy point cloud density information. The precision pesticide application device based on canopy undulation and density can perform spatial grid division on the entire tree crown, calculate the canopy point cloud density information of each grid, and the canopy point cloud density information , where represents the number of point clouds in the local area, represents the volume of the local area.

[0065] Optionally, the precision pesticide application device based on canopy undulation and density performs canopy density pesticide application compensation on the pesticide application area of the fruit tree according to the canopy point cloud density information, including: determining the ratio of the canopy undulation pesticide application compensation amount to the canopy surface area as the maximum unit area pesticide application rate; determining the reference unit pesticide application rate of the second stratified area based on the non-linear mapping function; determining the difference between the reference unit pesticide application rate and the maximum unit area pesticide application rate as the unit area density pesticide application compensation amount; performing canopy density pesticide application compensation on the second stratified area based on the unit area density pesticide application compensation amount.

[0066] Specifically, for the sparse canopy, since the liquid medicine is easy to penetrate, resulting in insufficient surface deposition, it is necessary to perform compensation pesticide application on the sparse area, increase the application rate to compensate for the loss of liquid medicine penetration, so as to ensure sufficient surface deposition on the fruit tree. The precision pesticide application device based on canopy undulation and density can first calculate the pesticide application rate per unit area corresponding to the maximum density to obtain the maximum unit area pesticide application rate , , represents the canopy undulation pesticide application compensation amount, represents the canopy surface area; then, determine the reference unit pesticide application rate of the second stratified area j based on the non-linear mapping function , where is the non-linear mapping function, used to control the compensation amount, and can be a logarithmic function or an exponential decay function, represents the density of the second stratified area j; after that, the difference between the reference unit pesticide application rate and the maximum unit area pesticide application rate is determined as the unit area density pesticide application compensation amount , . Finally, perform canopy density pesticide application compensation on the second stratified area j based on the unit area density pesticide application compensation amount .

[0067] Optionally, as Figure 4As shown, the precise pesticide application device based on canopy undulation and density can adopt laser-guided positioning technology and high-precision centrifugal spraying technology to achieve fixed-point and quantitative compensation pesticide application in the sparse area 41, ensuring that the deposition amount of the liquid medicine in the sparse area reaches the expected standard. The laser-guided positioning technology is used to locate the sparse area of the canopy in real time and adjust the pesticide application angle. The high-precision centrifugal spraying technology is used to dynamically adjust the spraying angle and flow rate to achieve small-range canopy density compensation.

[0068] Optionally, after obtaining the canopy information of the fruit tree pesticide application area, the precise pesticide application device based on canopy undulation and density can identify the outermost layer obtained by adaptive hierarchical processing as the edge area of the fruit tree canopy and perform fixed-point pesticide application compensation on the edge area.

[0069] Specifically, as Figure 4 shown, for the irregular edge area of the fruit tree canopy, to prevent overspray or omission of the liquid medicine, the precise pesticide application device based on canopy undulation and density can accurately detect the edge position through laser-guided positioning technology and perform fixed-point spraying on the edge area 42 through a high-precision fan-shaped nozzle, ensuring that the liquid medicine deposition is limited to the surface of the target canopy, avoiding ineffective pesticide application, and reducing liquid medicine waste and environmental pollution. Laser guidance is used to locate the edge area of the canopy in real time and adjust the pesticide application angle. The fan-shaped nozzle control is used to dynamically adjust the spraying angle and flow rate according to the shape and width of the edge position to achieve precise edge compensation pesticide application. The laser guidance feature is to use lidar to output a scan result containing horizontal angle and vertical angle information, and directly use these angles as the pitch angle and yaw angle control commands of the fan-shaped nozzle. After receiving the angles, the rotation motor of the fan-shaped nozzle makes adjustments.

[0070] The introduction of laser-guided positioning technology enables the fan-shaped nozzle to accurately locate and align with the edge area of the fruit tree for pesticide application, effectively avoiding over-area spraying and missed spraying phenomena. It can not only reduce liquid medicine waste and environmental pollution, but also further improve the utilization rate of the liquid medicine, enhance the overall control effect and operation efficiency.

[0071] It should be noted that multiple fan-shaped nozzles can be fixed on a rotatable crossbar. The rotatable crossbar can be installed directly below the fuselage of the unmanned aerial vehicle for large-range hierarchical pesticide application. Four high-precision centrifugal fan-shaped nozzles can be installed below the four rotors of the unmanned aerial vehicle, and the laser guidance device is installed beside the high-precision centrifugal fan-shaped nozzle. The laser guidance device is used to provide the pitch angle and yaw angle. The adjacent installation can directly export the horizontal angle and vertical angle information output by the laser guidance device as the command to control the fan-shaped nozzle, making the control faster and more accurate.

[0072] In the embodiments of the present application, not only can the canopy of the fruit tree spraying area be adaptively stratified according to the equivalent curvature factor, and the canopy undulation spraying compensation can be performed on each stratified area respectively, but also the canopy density spraying compensation can be performed on the fruit tree spraying area according to the canopy point cloud density information. In this way, precise spraying and differential control of different hierarchical areas can be achieved, significantly improving the accuracy and uniformity of spraying, and ensuring uniform coverage of the liquid medicine on different undulating surfaces and density areas.

[0073] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of methods. To implement the above functions, it includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0074] A precise spraying method based on canopy undulation and density provided by the embodiments of the present application may have an execution entity as a precise spraying device based on canopy undulation and density, or a control module for spraying compensation in a precise spraying device of an unmanned aerial vehicle based on canopy undulation and density. In the embodiments of the present application, taking the precise spraying device based on canopy undulation and density as an example to execute the precise spraying method based on canopy undulation and density, the precise spraying device based on canopy undulation and density provided by the embodiments of the present application is described.

[0075] It should be noted that the embodiments of the present application can divide the functional modules of the precise spraying device based on canopy undulation and density according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0076] Such as Figure 5As shown in the figure, an embodiment of the present application provides a precise pesticide application device 500 based on canopy undulation and density. The precise pesticide application device 500 based on canopy undulation and density includes: an acquisition module 501 and a processing module 502. The acquisition module 501 is configured to acquire canopy information of the fruit tree pesticide application area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; the processing module 502 is configured to perform adaptive layering processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain a plurality of layered areas, and perform canopy undulation pesticide application compensation on each layered area respectively, where the equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; perform canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; wherein, the pesticide application amount for the undulating canopy is greater than that for the flat canopy, and the pesticide application amount for the sparse canopy is greater than that for the dense canopy.

[0077] Optionally, the processing module 502 is configured to determine the initial layer thickness of the current canopy according to the fruit tree type and the fruit tree height; determine the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the adjacent next canopy; in the case where the equivalent curvature change rate is greater than a first threshold, reduce the canopy thickness of the current canopy on the basis of the initial layer thickness; in the case where the equivalent curvature change rate is less than or equal to the first threshold, increase the canopy thickness of the current canopy on the basis of the initial layer thickness.

[0078] Optionally, the final layer thickness of the current canopy is within a preset thickness range.

[0079] Optionally, the processing module 502 is configured to determine the reference pesticide application amount of the flat canopy with the largest density in the first layered area, where the reference pesticide application amount is the product of the reference pesticide application amount per unit area and the projection area; determine the canopy undulation pesticide application compensation amount as the product of the equivalent curvature factor of the first layered area and the reference pesticide application amount; perform canopy undulation pesticide application compensation on the first layered area based on the canopy undulation pesticide application compensation amount; wherein, the first layered area is one of the plurality of layered areas.

[0080] Optionally, the processing module 502 is configured to determine the ratio of the canopy undulation pesticide application compensation amount to the canopy surface area as the maximum pesticide application amount per unit area; determine the reference unit pesticide application amount of the second layered area based on a non-linear mapping function; determine the unit area density pesticide application compensation amount as the difference between the reference unit pesticide application amount and the maximum pesticide application amount per unit area; perform canopy density pesticide application compensation on the second layered area based on the unit area density pesticide application compensation amount.

[0081] Optionally, the processing module 502 is configured to identify the edge area of the fruit tree canopy and perform fixed-point pesticide application compensation on the edge area.

[0082] In the embodiments of the present application, not only can the canopy of the fruit tree spraying area be adaptively stratified according to the equivalent curvature factor, and the canopy undulation spraying compensation can be performed on each stratified area respectively, but also the canopy density spraying compensation can be performed on the fruit tree spraying area according to the canopy point cloud density information. In this way, precise spraying and differential control of different levels of areas can be achieved, significantly improving the accuracy and uniformity of spraying, and ensuring uniform coverage of the liquid medicine on different undulating surfaces and density areas.

[0083] Figure 6 An example of the physical structure diagram of an electronic device is shown as Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 complete mutual communication through the communication bus 640. The processor 610 can call the logical instructions in the memory 630 to execute the precise spraying method based on the canopy undulation and density. The method includes: obtaining the canopy information of the fruit tree spraying area, where the canopy information includes the canopy surface area, the canopy projection area, and the canopy point cloud density information; performing adaptive stratification processing on the canopy of the fruit tree spraying area according to the equivalent curvature factor to obtain a plurality of stratified areas, and performing canopy undulation spraying compensation on each stratified area respectively, where the equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; performing canopy density spraying compensation on the fruit tree spraying area according to the canopy point cloud density information; where the spraying amount of the undulating canopy is greater than that of the flat canopy, and the spraying amount of the sparse canopy is greater than that of the dense canopy.

[0084] In addition, when the logical instructions in the above-mentioned memory 630 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0085] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the precise pesticide application method based on canopy undulation and density provided by the above-mentioned various methods. The method includes: obtaining canopy information of the fruit tree pesticide application area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; performing adaptive hierarchical processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain multiple hierarchical areas, and respectively performing canopy undulation pesticide application compensation on each hierarchical area. The equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; performing canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; wherein, the pesticide application amount for the undulating canopy is greater than that for the flat canopy, and the pesticide application amount for the sparse canopy is greater than that for the dense canopy.

[0086] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the precise pesticide application method based on canopy undulation and density provided by the above-mentioned various methods. The method includes: obtaining canopy information of the fruit tree pesticide application area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; performing adaptive hierarchical processing on the canopy of the fruit tree pesticide application area according to the equivalent curvature factor to obtain multiple hierarchical areas, and respectively performing canopy undulation pesticide application compensation on each hierarchical area. The equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; performing canopy density pesticide application compensation on the fruit tree pesticide application area according to the canopy point cloud density information; wherein, the pesticide application amount for the undulating canopy is greater than that for the flat canopy, and the pesticide application amount for the sparse canopy is greater than that for the dense canopy.

[0087] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0088] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A precise pesticide application method based on canopy undulation and density, characterized in that, Including: Obtain the canopy information of the fruit tree spraying area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; Perform adaptive stratification processing on the canopy of the fruit tree spraying area according to the equivalent curvature factor to obtain multiple stratified areas, and perform canopy undulation spraying compensation on each stratified area respectively. The equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; Perform canopy density spraying compensation on the fruit tree spraying area according to the canopy point cloud density information; Among them, the spraying amount of the undulating canopy is greater than that of the flat canopy, and the spraying amount of the sparse canopy is greater than that of the dense canopy.

2. The precise pesticide application method based on canopy undulation and density according to claim 1, characterized in that, The performing adaptive stratification processing on the canopy of the fruit tree spraying area according to the equivalent curvature factor to obtain multiple stratified areas includes: Determine the initial layer thickness of the current canopy according to the fruit tree type and fruit tree height; Determine the equivalent curvature change rate according to the equivalent curvature factor of the current canopy and the equivalent curvature factor of the adjacent next canopy; In the case where the equivalent curvature change rate is greater than the first threshold, reduce the canopy thickness of the current canopy on the basis of the initial layer thickness; In the case where the equivalent curvature change rate is less than or equal to the first threshold, increase the canopy thickness of the current canopy on the basis of the initial layer thickness.

3. The precise pesticide application method based on canopy undulation and density according to claim 2, characterized in that The final layer thickness of the current canopy is within a preset thickness range.

4. The precise pesticide application method based on canopy undulation and density according to any one of claims 1-3, characterized in that, The performing canopy undulation spraying compensation on each stratified area respectively includes: Determine the reference spraying amount of the flat canopy with the largest density in the first stratified area. The reference spraying amount is the product of the reference spraying amount per unit area and the projection area; Determine the canopy undulation spraying compensation amount as the product of the equivalent curvature factor of the first stratified area and the reference spraying amount; Perform canopy undulation spraying compensation on the first stratified area based on the canopy undulation spraying compensation amount; Among them, the first stratified area is one of the multiple stratified areas.

5. The precise pesticide application method based on canopy undulation and density according to claim 4, characterized in that The performing canopy density spraying compensation on the fruit tree spraying area according to the canopy point cloud density information includes: Determine the maximum spraying amount per unit area as the ratio of the canopy undulation spraying compensation amount to the canopy surface area; Determine the reference spraying amount per unit of the second stratified area based on the non-linear mapping function; Determine the spraying compensation amount per unit area density as the difference between the reference spraying amount per unit and the maximum spraying amount per unit area; Perform canopy density spraying compensation on the second stratified area based on the spraying compensation amount per unit area density.

6. The precise pesticide application method based on canopy undulation and density according to claim 1, wherein After obtaining the canopy information of the fruit tree spraying area, the method further includes: Identify the edge area of the fruit tree canopy and perform fixed-point spraying compensation on the edge area.

7. A precise pesticide application device based on canopy undulation and density, characterized in that, Including: An acquisition module and a processing module; The acquisition module is used to obtain the canopy information of the fruit tree spraying area, where the canopy information includes canopy surface area, canopy projection area, and canopy point cloud density information; The processing module is configured to perform adaptive hierarchical processing on the canopy of the fruit tree spraying area according to the equivalent curvature factor to obtain a plurality of hierarchical areas, and perform canopy undulation spraying compensation on each hierarchical area respectively. The equivalent curvature factor is the ratio of the canopy surface area to the canopy projection area; perform canopy density spraying compensation on the fruit tree spraying area according to the canopy point cloud density information; wherein, the spraying amount of the undulating canopy is greater than that of the flat canopy, and the spraying amount of the sparse canopy is greater than that of the dense canopy.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the precise spraying method based on canopy undulation and density according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the precise spraying method based on canopy undulation and density according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the precise spraying method based on canopy undulation and density according to any one of claims 1 to 6.

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