Liquid fertilizer spraying system, method and equipment based on unmanned aerial vehicle and medium

Abstract

The invention provides a liquid fertilizer spraying system, method and equipment based on an unmanned aerial vehicle and a medium. The system comprises the unmanned aerial vehicle, spraying equipment, an environment sensor and a controller, the spraying equipment is arranged on the unmanned aerial vehicle; the environment sensor is arranged on the unmanned aerial vehicle; the controller is used for controlling at least one of the spraying angle, the spraying flow and the spraying width of the spraying equipment for spraying the liquid fertilizer based on the flight state data and the pose state data of the unmanned aerial vehicle, the environment data, collected by the environment sensor, around the unmanned aerial vehicle and the residual amount of the liquid fertilizer. According to the liquid fertilizer spraying system, method and equipment based on the unmanned aerial vehicle and the medium, parameters such as the spraying angle of the liquid fertilizer can be controlled more objectively and more accurately based on the actual situation of the field, then the fertilization effect is improved, adverse effects on crops are avoided, the fertilization effect can be improved, and the application range is wide. The waste of agricultural production resources can be better avoided, and the method has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the field of smart agricultural technology, and in particular to a liquid fertilizer spraying system, method, equipment and medium based on an unmanned aerial vehicle. Background Art

[0002] With the development of precision agriculture, drones equipped with fertilization equipment have been widely used to accurately fertilize crops. Compared with fertilization methods that rely on manual operation and semi-mechanized equipment to fertilize crops, drone-based fertilization methods can significantly improve fertilization efficiency, enhance fertilization accuracy, reduce labor costs, and reduce adverse impacts on the environment.

[0003] When fertilizing crops with drones, drones equipped with fertilizing equipment can spray liquid fertilizers on crops from the air. However, liquid fertilizers may cause potential ablation damage to crop leaves during the spraying process. Therefore, in order to ensure the fertilization effect while avoiding adverse effects on crops, it is necessary to accurately control the flight trajectory of the drone, the spraying angle and range of the liquid fertilizer, and other parameters during the process of fertilizing crops with drones.

[0004] In the related technology, when a drone equipped with fertilizer equipment can spray liquid fertilizer on crops from the air, the flight trajectory of the drone, the spraying angle and range of the liquid fertilizer and other parameters can be controlled by image recognition. However, due to the complex field environment and the limited information that can be obtained by image recognition, it is difficult to objectively and accurately control the flight trajectory of the drone, the spraying angle and range of the liquid fertilizer and other parameters based on the actual situation in the field through image recognition, which leads to poor fertilization effect and / or adverse effects on crops. Summary of the invention

[0005] The present invention provides a liquid fertilizer spraying system, method, equipment and medium based on an unmanned aerial vehicle, so as to solve the defect in the prior art that, in the process of fertilizing crops by using an unmanned aerial vehicle, it is difficult to objectively and accurately control the flight trajectory of the unmanned aerial vehicle, the spraying angle and range of the liquid fertilizer and other parameters based on the actual situation in the field, resulting in poor fertilization effect and / or adverse effects on crops. The system can more objectively and accurately control the flight trajectory of the unmanned aerial vehicle, the spraying angle and range of the liquid fertilizer and other parameters based on the actual situation in the field, thereby improving the fertilization effect and avoiding adverse effects on crops.

[0006] The present invention provides a liquid fertilizer spraying system based on an unmanned aerial vehicle, comprising: an unmanned aerial vehicle, a spraying device, an environmental sensor and a controller; the unmanned aerial vehicle, the spraying device and the environmental sensor are electrically connected to the controller respectively; The spraying device is arranged on the drone, and the drone is used to drive the spraying device to move in the air of the target area, and send the flight state data and posture state data of the drone to the controller; The spraying device is used to spray liquid fertilizer to the crops in the target area in response to the control of the controller, and send the remaining amount of the liquid fertilizer to the controller; The environmental sensor is arranged on the drone, and is used to collect environmental data around the drone, and send the collected real-time environmental data to the controller; The controller is used to control at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment based on the received flight status data and posture status data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer.

[0007] According to a liquid fertilizer spraying system based on a drone provided by the present invention, the spraying equipment includes a support rod, a plurality of spraying modules and a liquid level sensor; the support rod is arranged in a horizontal direction, and each of the spraying modules is suspended below the support rod at equal intervals; the spraying module includes a nozzle assembly and a nozzle angle adjustment steering gear, and the nozzle assembly is rotationally connected to the nozzle angle adjustment steering gear; the liquid level sensor and the nozzle angle adjustment steering gear are electrically connected to the controller; The nozzle angle adjustment servo is used to drive the nozzle assembly to rotate, and send the current rotation angle of the nozzle assembly to the controller; The liquid level sensor is used to obtain the remaining amount of the liquid fertilizer and send the remaining amount of the liquid fertilizer to the controller The flight status data includes flight altitude; the environmental sensors include a barometer, an anemometer and a wind vane; The controller is specifically used to control the spraying module to drive the rotation of the nozzle assembly based on the received flight status data and posture status data of the UAV, the environmental data around the UAV, the current rotation angle of the nozzle assembly and the remaining amount of the liquid fertilizer, thereby controlling the spraying angle of the spraying equipment to spray the liquid fertilizer.

[0008] According to a liquid fertilizer spraying system based on a drone provided by the present invention, the controller is used to determine the intersection of the extension line of each nozzle assembly and the ground as the target landing point of the liquid fertilizer sprayed by each nozzle assembly based on the flight state data and posture state data of the drone and the current rotation angle of each nozzle assembly, obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly based on the flight state data and posture state data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer, and then obtain the ideal rotation angle of each nozzle assembly based on the target landing point and the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly, and then control the spraying module to drive the rotation of the nozzle assembly based on the ideal rotation angle of each nozzle assembly; Among them, the reference point corresponding to the nozzle assembly is the projection point of the rotation connection point between the nozzle assembly and the nozzle angle adjustment steering gear on the ground.

[0009] According to a liquid fertilizer spraying system based on a drone provided by the present invention, the posture state data of the drone includes the current rotation angle of the spraying pipe assembly; The controller is used to calculate the vertical distance between the first end of each nozzle assembly and the ground based on the flight state data and posture state data of the UAV and the current rotation angle of each nozzle assembly, and then input the vertical distance between the first end of each nozzle assembly and the ground, the distance between the suspension point between each spraying module and the support structure and the center point of the support rod, the current rotation angle of each nozzle assembly, the environmental data around the UAV and the remaining amount of the liquid fertilizer into a landing point estimation model to obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly output by the landing point estimation model; The first end of the nozzle assembly is an end of the nozzle assembly close to the ground; the landing point estimation model is obtained after training based on sample data and sample labels corresponding to the sample data; the sample data and the sample labels corresponding to the sample data are collected using a sample drone-based liquid fertilizer spraying system, and the sample drone-based liquid fertilizer spraying system has the same structure as the drone-based liquid fertilizer spraying system; The sample data includes the vertical distance between the first end of the sample nozzle assembly and the ground, the distance between the suspension point between the sample spraying module where the sample nozzle assembly is located and the sample support structure and the center point of the sample support rod, the current rotation angle of the sample nozzle assembly, the environmental data around the sample drone, and the remaining amount of the sample liquid fertilizer; the sample label corresponding to the sample data includes the actual landing point of the sample liquid fertilizer sprayed by the sample nozzle assembly.

[0010] A liquid fertilizer spraying system based on a drone provided by the present invention further includes: an image sensor; the image sensor is arranged on the drone, and the image sensor is electrically connected to the controller; The drone is also used to drive the image sensor to move in the air over the target area in response to control by the controller; The image sensor is used for collecting the image of the target area in response to the control of the controller, and sending the collected image of the target area to the controller; The controller is used to control the flight trajectory of the UAV based on the received image of the target area.

[0011] A liquid fertilizer spraying system based on a drone provided by the present invention further includes: a positioning module; the positioning module is arranged on the drone; the positioning module is electrically connected to the controller; The positioning module is used to obtain the position information of the drone, and send the obtained position information of the drone to the controller; The controller is used to control the flight trajectory of the UAV and / or at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer by the spraying equipment based on the received image of the target area, the location information of the UAV and the flight status data and posture status data of the UAV.

[0012] According to a liquid fertilizer spraying system based on an unmanned aerial vehicle provided by the present invention, the controller is specifically used to perform image recognition on the image of the target area, identify the crop rows in the image of the target area, and then control the flight trajectory of the unmanned aerial vehicle and / or at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment based on the crop row information in the identified image of the target area, the position information of the unmanned aerial vehicle, and the flight status data and posture status data of the unmanned aerial vehicle.

[0013] The present invention also provides a method for spraying liquid fertilizer based on a drone, which is implemented based on any of the above-mentioned liquid fertilizer spraying systems based on a drone, comprising: Acquiring flight status data and posture status data of the UAV, environmental data around the UAV, and the remaining amount of the liquid fertilizer; Based on the flight status data and posture status data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer, at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment carried by the drone is controlled.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the liquid fertilizer spraying method based on a drone as described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the liquid fertilizer spraying method based on a drone as described in any one of the above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the liquid fertilizer spraying method based on a drone as described above is implemented.

[0017] The present invention provides a liquid fertilizer spraying system, method, equipment and medium based on a drone. The liquid fertilizer spraying system based on a drone includes a drone, a spraying device, an environmental sensor and a controller. The spraying device is arranged on the drone. The drone is used to drive the spraying device to move in the air of a target area, and send the flight status data and posture status data of the drone to the controller. The spraying device is used to spray liquid fertilizer to crops in the target area in response to the control of the controller, and send the remaining amount of the liquid fertilizer to the controller. The environmental sensor is arranged on the drone, and is used to collect environmental data around the drone, and send the collected real-time environmental data to the controller. The controller is used to control at least one of the spraying angle, spraying flow rate and spray width of the spraying device for spraying liquid fertilizer based on the received flight status data and posture status data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer. The spraying angle and other parameters of the liquid fertilizer can be controlled more objectively and accurately based on the actual situation in the field, thereby improving the fertilization effect and avoiding adverse effects on crops. The fertilization effect can be improved, and the waste of agricultural production resources can be better avoided. The method has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is one of the structural schematic diagrams of the liquid fertilizer spraying system based on the drone provided by the present invention.

[0020] Figure 2 is a schematic diagram of the target area.

[0021] Figure 3 This is one of the structural schematic diagrams of the spraying equipment in the liquid fertilizer spraying system based on the drone provided by the present invention.

[0022] Figure 4 This is the second structural schematic diagram of the liquid fertilizer spraying system based on the drone provided by the present invention.

[0023] Figure 5 This is the second structural schematic diagram of the spraying equipment in the liquid fertilizer spraying system based on the drone provided by the present invention.

[0024] Figure 6 It is a schematic diagram of the application of the liquid fertilizer spraying system based on drone provided by the present invention.

[0025] Figure 7 It is a schematic diagram of the flow of the liquid fertilizer spraying method based on a drone provided by the present invention.

[0026] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the invention, it should be noted that, 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 ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the description of the present application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually a class, and the number of objects is not limited. For example, the first object can be one or more. In addition, in the description of the present application, "and / or" represents at least one of the connected objects, and the character " / " generally represents that the front and back associated objects are in an "or" relationship.

[0030] In traditional agriculture, crops are mainly fertilized by manual operation and semi-mechanized equipment. However, fertilization by manual operation and semi-mechanized equipment has defects such as uneven fertilization, low fertilization accuracy and low fertilization efficiency, resulting in poor fertilization effect and waste of agricultural production resources.

[0031] With the development of precision agriculture, drone technology has gradually been promoted in the agricultural field due to its high efficiency, flexibility and intelligence.

[0032] Compared with solid fertilizers, liquid fertilizers have higher absorption efficiency, better fertilizer effect and more flexible ingredient adjustment. Therefore, the fertilization method of using drones equipped with fertilizer equipment to spray liquid fertilizers on crops from the air has been widely used in agricultural production.

[0033] However, liquid fertilizers may cause potential ablation damage to crop leaves during spraying. Therefore, in order to ensure the fertilization effect while avoiding adverse effects on crops, it is necessary to accurately control the flight trajectory of the drone, the spraying angle and range of the liquid fertilizer, and other parameters during the process of drone-based crop fertilization.

[0034] The traditional drone-based fertilization method in the related art can adjust the camera angle set on the drone to ensure the correct fertilizer spraying area after receiving the spraying delay and flight altitude information input by the user; collect crop images through the camera and perform shape and color analysis to determine the crop type and maturity; determine the spraying fertilizer information and spraying amount information according to the crop type and crop maturity; in this way, the opening and closing status of various fertilizer valves can be determined according to the spraying fertilizer information, and then the flow of the open fertilizer valve is controlled in combination with the spraying amount information, thereby realizing the control of the drone's flight trajectory, the spraying angle and range of liquid fertilizer and other parameters.

[0035] However, due to the complex field environment, image recognition can only obtain limited information, such as wind speed, humidity, and temperature, which have a significant impact on the amount of liquid fertilizer deposited on crop leaves.

[0036] In addition, during the flight of the drone, the wind field generated by the rotor of the drone will also affect the drift direction of the liquid fertilizer and the remaining amount of liquid fertilizer, thereby affecting the amount of liquid fertilizer deposited on the leaves of the crop.

[0037] Therefore, it is difficult for traditional drone-based fertilization methods to objectively and accurately control parameters such as the flight trajectory of the drone, the spraying angle and range of liquid fertilizers based on the actual situation in the field, which in turn leads to poor fertilization effects and / or adverse effects on crops.

[0038] In this regard, the present invention provides a liquid fertilizer spraying system based on an unmanned aerial vehicle. The liquid fertilizer spraying system based on an unmanned aerial vehicle provided by the present invention recognizes crops through aerial images and generates row and ridge maps, accurately guides the spraying path, and improves the accuracy of fertilization. The spraying angle is dynamically adjusted according to the real-time flight position, altitude and attitude information. At the same time, taking into account the changes in the remaining amount of liquid fertilizer carried by the unmanned aerial vehicle and the influence of the rotor wind field, the spraying angle is dynamically compensated to ensure a stable fertilization effect. The liquid fertilizer spraying system based on an unmanned aerial vehicle provided by the present invention has great advantages in precision fertilization and dynamic adjustment. Through the present invention, precise row spraying of liquid fertilizer is achieved, agricultural production efficiency is improved, fertilizer waste is reduced, and the development of precision agriculture is promoted.

[0039] Combine the following Figure 1-Figure 6 The invention describes a liquid fertilizer spraying system based on a drone.

[0040] Figure 1 This is one of the structural schematic diagrams of the liquid fertilizer spraying system based on the drone provided by the present invention. Figure 1 The liquid fertilizer spraying system based on drone provided by the present invention is described. Figure 1 As shown, the UAV-based liquid fertilizer spraying system 101 includes: a UAV 102, a spraying device 103, an environmental sensor 104 and a controller 105; the UAV 102, the spraying device 103 and the environmental sensor 104 are electrically connected to the controller 105 respectively.

[0041] The spraying device 103 is arranged on the drone 102 , and the drone 102 is used to drive the spraying device 103 to move in the air in the target area, and send the flight status data and posture status data of the drone 102 to the controller 105 .

[0042] The spraying device 103 is used to spray liquid fertilizer to crops in a target area in response to the control of the controller 105 , and send the remaining amount of the liquid fertilizer to the controller 105 .

[0043] The environmental sensor 104 is disposed on the drone 102 , and is used to collect environmental data around the drone 102 , and send the collected real-time environmental data to the controller 105 .

[0044] The controller 105 is used to control at least one of the spraying angle, spraying flow rate and spray width of the spraying equipment 103 for spraying liquid fertilizer based on the received flight status data and posture status data of the drone 102, the environmental data around the drone 102 and the remaining amount of liquid fertilizer.

[0045] Specifically, the crops in the target area are the objects of liquid fertilizer spraying by the liquid fertilizer spraying system 101 based on a drone provided by the present invention. The liquid fertilizer spraying system 101 based on a drone provided by the present invention can be used to spray liquid fertilizer on the crops in the target area.

[0046] It is understandable that the target area in the embodiment of the present invention may be determined based on actual needs. The target area in the embodiment of the present invention is not specifically limited.

[0047] Figure 2 is a schematic diagram of the target area. Figure 2 As shown, the crops in the target area are planted according to certain row spacing and plant spacing, and the crops are distributed in rows and columns to form crop rows and crop ridges.

[0048] It should be noted that the flight status data in the embodiment of the present invention may include but is not limited to the flight altitude and flight speed, etc. Accordingly, the drone 102 may be provided with a speed sensor and an altitude sensor. The flight status data of the drone 102 may be obtained by using the speed sensor.

[0049] It should be noted that the spraying device 103 in the embodiment of the present invention includes a fertilizer box, a spraying module, and other electronic control components, etc. The fertilizer box is used to store liquid fertilizer, and the spraying module is used to spray the liquid fertilizer in the fertilizer box. The electronic control component can be used to respond to the control of the controller 105 to adjust the spraying angle, spraying flow rate, and spray width of the liquid fertilizer.

[0050] It should be noted that the environmental sensor 104 in the embodiment of the present invention may include but is not limited to a barometer, an anemometer, a wind vane, a thermometer, a hygrometer, etc. Accordingly, the environmental data around the drone 102 collected by the environmental sensor 104 in the embodiment of the present invention may include but is not limited to the pressure, wind speed, wind direction, temperature, humidity, etc. around the drone 102.

[0051] After receiving the flight status data and posture status data of the drone 102, the environmental data around the drone, and the remaining amount of liquid fertilizer, the controller 105 can obtain the ideal spraying angle, ideal spraying flow rate, and ideal spray width of the spraying equipment 103 for spraying liquid fertilizer based on numerical calculation, mathematical statistics, and deep learning technology. Then, based on the ideal spraying angle, ideal spraying flow rate, and ideal spray width of the spraying equipment 103 for spraying liquid fertilizer, at least one of the spraying angle, spraying flow rate, and spray width of the spraying equipment 103 for spraying liquid fertilizer can be controlled through control instructions.

[0052] Figure 3 This is one of the structural schematic diagrams of the spraying equipment in the liquid fertilizer spraying system based on the drone provided by the present invention. Figure 4 FIG. 2 is a second structural diagram of a liquid fertilizer spraying system based on a drone provided by the present invention. As an optional embodiment, Figure 3 and Figure 4 As shown, the spraying equipment 103 includes a support rod 301, multiple spraying modules 302 and a liquid level sensor; the support rod 301 is arranged in the horizontal direction, and each spraying module 302 is suspended under the support rod 301 at equal intervals; the spraying module 302 includes a nozzle assembly 303 and a nozzle angle adjustment servo 304, and the nozzle assembly 303 is rotationally connected to the nozzle angle adjustment servo 304; the liquid level sensor and the nozzle angle adjustment servo 304 are electrically connected to the controller 105.

[0053] The nozzle angle adjustment servo 304 is used to drive the nozzle assembly 303 to rotate, and send the current rotation angle of the nozzle assembly 303 to the controller 105 .

[0054] The liquid level sensor is used to obtain the remaining amount of the liquid fertilizer and send the remaining amount of the liquid fertilizer to the controller 105 .

[0055] The flight status data includes the flight altitude; the environmental sensor 104 includes a barometer, an anemometer, and a wind vane.

[0056] The controller 105 is specifically used to control the rotation of the spraying module 302 to drive the nozzle assembly 303 based on the received flight status data and posture status data of the drone 102, the environmental data around the drone 102, the current rotation angle of the nozzle assembly 303 and the remaining amount of liquid fertilizer, thereby controlling the spraying angle of the spraying equipment 103 to spray the liquid fertilizer.

[0057] It should be noted that the length of the nozzle assembly 303 and the spacing between any two adjacent spraying modules 302 in the embodiment of the present invention can be determined based on prior knowledge and / or actual conditions, but the length of the nozzle assembly 303 must be sufficient to allow the liquid fertilizer to move in a straight line after being sprayed from the nozzle assembly 303. In the embodiment of the present invention, the length of the nozzle assembly 303 and the spacing between any two adjacent spraying modules 302 are not specifically limited.

[0058] After receiving the flight status data and posture status data of the drone 102, the environmental data around the drone, and the remaining amount of liquid fertilizer, the controller 105 can obtain the ideal spraying angle, ideal spraying flow rate, and ideal spray width of the spraying equipment 103 for spraying liquid fertilizer based on numerical calculation, mathematical statistics, and deep learning technology. Then, based on the ideal spraying angle, ideal spraying flow rate, and ideal spray width of the spraying equipment 103 for spraying liquid fertilizer, the controller 105 can control the nozzle angle adjustment servo 304 through control instructions, so that the nozzle angle adjustment servo 304 drives the nozzle assembly 303 to rotate, thereby controlling the spraying angle of the spraying equipment 103 for spraying liquid fertilizer.

[0059] As an optional embodiment, the controller 105 is used to determine the intersection of the extension line of each nozzle assembly 303 and the ground as the target landing point of the liquid fertilizer sprayed by each nozzle assembly 303 based on the flight status data and posture status data of the drone 102 and the current rotation angle of each nozzle assembly 303, and obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly 303 based on the flight status data and posture status data of the drone 102, the environmental data around the drone 102 and the remaining amount of liquid fertilizer, and then obtain the ideal rotation angle of each nozzle assembly 303 based on the target landing point and estimated landing point of the liquid fertilizer sprayed by each nozzle assembly 303, and then control the spraying module 302 to drive the rotation of the nozzle assembly 303 based on the ideal rotation angle of each nozzle assembly 303.

[0060] The reference point corresponding to the nozzle assembly 303 is the projection point of the rotation connection point between the nozzle assembly 303 and the nozzle angle adjustment steering gear 304 on the ground.

[0061] Figure 5 This is the second structural schematic diagram of the spraying equipment in the liquid fertilizer spraying system based on drone provided by the present invention. The reference point O corresponding to the nozzle assembly 303, the target landing point Pt of the liquid fertilizer sprayed by the nozzle assembly 303, the estimated landing point P1 of the liquid fertilizer sprayed by the nozzle assembly 303, the first distance L corresponding to the nozzle assembly 303, the distance D between the suspension point between the spraying module 302 and the support structure and the center point of the support rod 301, the vertical distance H between the first end of the nozzle assembly 303 and the ground, and the current rotation angle of the nozzle assembly 303 like Figure 5 shown.

[0062] For each nozzle assembly 303, the controller 105 in the embodiment of the present invention can calculate the target landing point of the liquid fertilizer sprayed by the nozzle assembly 303 through trigonometric functions based on the flight altitude and posture state data of the drone 102 and the current rotation angle of the nozzle assembly 303.

[0063] The controller 105 in the embodiment of the present invention can obtain the estimated landing point of the liquid fertilizer sprayed by the nozzle assembly 303 based on the flight status data and posture status data of the drone 102, the environmental data around the drone 102 and the remaining amount of liquid fertilizer through numerical calculation, mathematical statistics and deep learning technology.

[0064] After obtaining the target landing point and estimated landing point of the liquid fertilizer, the controller 105 can also obtain the ideal rotation angle of the nozzle assembly 303 by numerical calculation, mathematical statistics, and deep learning technology. , and then based on the ideal rotation angle of the nozzle assembly 303 and the current rotation angle , control the spraying module 302 to drive the nozzle assembly 303 to rotate to the ideal rotation angle .

[0065] As an optional embodiment, the posture state data of the drone 102 includes the current rotation angle of the nozzle assembly 303 .

[0066] The controller 105 is used to calculate the vertical distance between the first end of each nozzle assembly 303 and the ground based on the flight status data and posture status data of the UAV 102 and the current rotation angle of each nozzle assembly 303, and then input the vertical distance between the first end of each nozzle assembly 303 and the ground, the distance between the suspension point between each spraying module 302 and the supporting structure and the center point of the support rod 301, the current rotation angle of each nozzle assembly 303, the environmental data around the UAV 102 and the remaining amount of liquid fertilizer into the landing point estimation model to obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly 303 output by the landing point estimation model.

[0067] Among them, the first end of the nozzle assembly 303 is the end of the nozzle assembly 303 close to the ground; the landing point estimation model is obtained after training based on sample data and sample labels corresponding to the sample data; the sample data and the sample labels corresponding to the sample data are collected using the sample drone-based liquid fertilizer spraying system, and the sample drone-based liquid fertilizer spraying system has the same structure as the drone-based liquid fertilizer spraying system 101.

[0068] The sample data includes the vertical distance between the first end of the sample nozzle assembly and the ground, the distance between the suspension point between the sample spraying module where the sample nozzle assembly is located and the sample support structure and the center point of the sample support rod, the current rotation angle of the sample nozzle assembly, the environmental data around the sample drone, and the remaining amount of the sample liquid fertilizer; the sample label corresponding to the sample data includes the actual landing point of the sample liquid fertilizer sprayed by the sample nozzle assembly.

[0069] It should be noted that the structure of the sample drone-based liquid fertilizer spraying system in the embodiment of the present invention is the same as the structure of the drone-based liquid fertilizer spraying system 101. The sample drone-based liquid fertilizer spraying system includes a sample drone, a sample spraying device and a sample environmental sensor; the sample spraying device is arranged on the sample drone; the sample spraying device includes a sample support rod and a plurality of sample spraying modules; the sample support rod is arranged in the horizontal direction, and each sample spraying module is suspended at equal intervals below the sample support rod; the sample spraying module includes a sample nozzle assembly and a sample nozzle angle adjustment servo, and the sample nozzle assembly is rotationally connected to the sample nozzle angle adjustment servo; the sample nozzle angle adjustment servo is used to drive the sample nozzle assembly to rotate.

[0070] In the embodiment of the present invention, the sample-based UAV liquid fertilizer spraying system and actual measurements can be used to obtain the sample data and the sample labels corresponding to the sample data. Then, an initial model can be constructed based on a convolutional neural network, and the initial model can be trained based on the sample data and the sample labels corresponding to the sample data, so that the model can learn the rotor wind field generated by the sample UAV during flight, and the influence on the landing point of the sample liquid fertilizer sprayed by the sample spraying equipment, thereby obtaining a trained landing point estimation model.

[0071] It should be noted that the sample drone-based liquid fertilizer spraying system may also be a drone-based liquid fertilizer spraying system 101. The sample data and the sample labels corresponding to the sample data may be obtained based on historical data and actual measurements.

[0072] For each nozzle assembly 303 , after the controller 105 obtains the target drop point and the estimated drop point of the liquid fertilizer sprayed by the nozzle assembly 303 , the ideal rotation angle of the nozzle assembly 303 can be calculated based on the target drop point of the liquid fertilizer sprayed by the nozzle assembly 303 through trigonometric functions.

[0073] like Figure 5 As shown, the actual landing point P2 of the liquid fertilizer sprayed by the nozzle assembly 303 at the ideal rotation angle has a small error with the target landing point of the liquid fertilizer sprayed by the nozzle assembly 303 .

[0074] The liquid fertilizer spraying system based on the unmanned aerial vehicle in the embodiment of the present invention includes a unmanned aerial vehicle, a spraying device, an environmental sensor and a controller. The spraying device is arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle is used to drive the spraying device to move in the air of the target area, and send the flight status data and posture status data of the unmanned aerial vehicle to the controller. The spraying device is used to spray liquid fertilizer to crops in the target area in response to the control of the controller, and send the remaining amount of the liquid fertilizer to the controller. The environmental sensor is arranged on the unmanned aerial vehicle, and is used to collect environmental data around the unmanned aerial vehicle, and send the collected real-time environmental data to the controller. The controller is used to control at least one of the spraying angle, spraying flow rate and spray width of the spraying device for spraying liquid fertilizer based on the received flight status data and posture status data of the unmanned aerial vehicle, the environmental data around the unmanned aerial vehicle and the remaining amount of liquid fertilizer. The spraying angle and other parameters of the liquid fertilizer can be controlled more objectively and accurately based on the actual situation in the field, thereby improving the fertilization effect and avoiding adverse effects on crops. The fertilization effect can be improved, and the waste of agricultural production resources can be better avoided. It has broad application prospects.

[0075] As an optional embodiment, the UAV-based liquid fertilizer spraying system 101 further includes: an image sensor; the image sensor is disposed on the UAV 102 , and the image sensor is electrically connected to the controller 105 .

[0076] The drone 102 is also used to drive the image sensor to move in the air over the target area in response to the control of the controller 105 .

[0077] The image sensor is used to collect an image of the target area in response to the control of the controller 105 , and send the collected image of the target area to the controller 105 .

[0078] The controller 105 is used to control the flight trajectory of the drone 102 based on the received image of the target area.

[0079] Specifically, after receiving the image data sent by the image sensor, the controller 105 may perform image preprocessing such as image stitching, image denoising, and image cropping on the image of the target area to obtain the image of the target area.

[0080] After the controller 105 obtains the image of the target area, it can construct a crop row segmentation and recognition model based on the deep learning semantic segmentation algorithm and the sliding window algorithm, and then perform image recognition on the image of the target area based on the above-mentioned crop row segmentation and recognition model to determine the crop row information in the image of the target area.

[0081] After determining the crop rows in the image of the target area, the controller 105 can control the flight trajectory of the UAV 102 based on the crop row information in the image of the target area, thereby controlling the UAV 102 to fly along the crop rows in the target area.

[0082] Optionally, the image sensor in the embodiment of the present invention may include but is not limited to a binocular camera.

[0083] As an optional embodiment, the UAV-based liquid fertilizer spraying system 101 further includes: a positioning module; the positioning module is disposed on the UAV 102; and the positioning module is electrically connected to the controller 105.

[0084] The positioning module is used to obtain the position information of the drone 102 , and send the obtained position information of the drone 102 to the controller 105 .

[0085] The controller 105 is used to control the flight trajectory of the drone 102 and / or at least one of the spraying angle, spraying flow rate and spray width of the spraying equipment 103 for spraying liquid fertilizer based on the received image of the target area, the location information of the drone 102, and the flight status data and posture status data of the drone 102.

[0086] As an optional embodiment, the controller 105 is specifically used to perform image recognition on the image of the target area, identify the crop rows in the image of the target area, and then control the flight trajectory of the drone 102 and / or at least one of the spraying angle, spraying flow rate and spray width of the spraying equipment 103 for spraying liquid fertilizer based on the crop row information in the identified image of the target area, the location information of the drone 102, and the flight status data and posture status data of the drone 102.

[0087] The UAV-based liquid fertilizer spraying system in the embodiment of the present invention also includes an image sensor and a positioning module. The controller controls the flight trajectory of the UAV and / or at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment based on the image of the target area collected by the image sensor, the position information of the UAV collected by the positioning module, and the flight status data and posture status data of the UAV. The controller can more objectively and accurately control the parameters such as the flight trajectory of the UAV and / or the spraying angle of the liquid fertilizer based on the actual situation in the field, thereby improving the fertilization effect and avoiding adverse effects on crops. It can improve the fertilization effect, better avoid the waste of agricultural production resources, and has broad application prospects.

[0088] In order to facilitate the understanding of the UAV-based liquid fertilizer spraying system 101 provided by the present invention, the UAV-based liquid fertilizer spraying system 101 provided by the present invention is described below by using an example.

[0089] Figure 6 FIG. 1 is a schematic diagram of the application of the liquid fertilizer spraying system based on a drone provided by the present invention. Figure 6 As shown, the controller 105 can first control the UAV 102 to use the onboard image sensor to collect high-resolution plot images of the target area. The controller 105 obtains the crop row information in the image of the target area based on the plot images of the target area collected by the image sensor, and then generates a flight trajectory of the UAV 102 based on the crop row information in the image of the target area, and controls the UAV 102 to drive the spraying equipment 103 to fly.

[0090] The controller 105 can also obtain the semantic information of the crops in real time based on the plot images of the target area collected by the image sensor when the drone 102 is driving the spraying equipment 103 to fly, and calculate the ideal posture of each nozzle assembly 303 and the crop row based on the posture state information of the drone 102 provided by the RTK-GNSS / INS device, and then control the rotation angle of each nozzle assembly 303 based on the ideal posture of each nozzle assembly 303 and the crop row.

[0091] The liquid level sensor obtains the remaining amount of liquid fertilizer in the fertilizer tank. The controller 105 can calculate the ideal rotation angle of the nozzle assembly 303 based on the remaining amount of liquid fertilizer, the flight status data and posture status data of the drone 102, and the environmental data around the drone 102, thereby achieving more accurate liquid fertilizer spraying.

[0092] The liquid fertilizer spraying system 101 based on a drone provided by the present invention can significantly improve the accuracy and efficiency of liquid fertilizer topdressing operations. The drone 102 is equipped with a visual sensor and an airborne binocular camera. Through image stitching technology and row ridge recognition technology, the drone 102 can perceive the aircraft position, altitude and attitude information in real time, adjust the nozzle angle in real time, and achieve real-time recognition of crop rows and ridges and precise spraying, ensuring the row spraying of liquid fertilizer and avoiding the problem of liquid fertilizer causing ablation damage to crop leaves. The dynamic adjustment function of the liquid fertilizer spraying system 101 based on a drone can compensate for the changes in the rotor wind field in real time, ensure the stability and accuracy of liquid fertilizer spraying, and thus improve the quality of fertilization.

[0093] The liquid fertilizer spraying system 101 based on a drone provided by the present invention has strong application in terrain and crop environments, and is easy to operate and reliable. Its precision fertilization capability provides a new solution for agricultural intelligence, has broad application prospects and huge market potential, can significantly improve agricultural production efficiency, increase food production, and promote the development of green agriculture.

[0094] Figure 71 is a flow chart of the liquid fertilizer spraying method based on drone provided by the present invention. The liquid fertilizer spraying method based on drone provided by the present invention is implemented based on the above-mentioned liquid fertilizer spraying system 101 based on drone. Figure 7 As shown, the method includes the following: Step 701, obtaining flight status data and posture status data of the UAV, environmental data around the UAV, and the remaining amount of liquid fertilizer.

[0095] Step 702: Based on the flight status data and posture status data of the drone, the environmental data around the drone, and the remaining amount of liquid fertilizer, control at least one of the spraying angle, spraying flow rate, and spray width of the spraying equipment carried by the drone to spray the liquid fertilizer.

[0096] It should be noted that the specific execution steps of the UAV-based liquid fertilizer spraying method provided by the present invention can refer to the specific structure of the UAV-based liquid fertilizer spraying system 101 and the interaction between different components in the above embodiments, which will not be repeated in the embodiments of the present invention.

[0097] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the liquid fertilizer spraying method based on the drone, the method comprising: obtaining the flight state data and posture state data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer; based on the flight state data and posture state data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer, controlling at least one of the spraying angle, spraying flow rate and spray width of the spraying equipment for spraying the liquid fertilizer.

[0098] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0099] On the other hand, the present invention also provides a computer program product, which includes a computer program, which 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 UAV-based liquid fertilizer spraying method provided by the above methods, the method including: obtaining the flight status data and posture status data of the UAV, the environmental data around the UAV, and the remaining amount of liquid fertilizer; based on the flight status data and posture status data of the UAV, the environmental data around the UAV, and the remaining amount of liquid fertilizer, controlling at least one of the spraying angle, spraying flow rate, and spray width of the spraying equipment for spraying liquid fertilizer.

[0100] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the UAV-based liquid fertilizer spraying method provided by the above-mentioned methods, the method comprising: obtaining the flight status data and posture status data of the UAV, the environmental data around the UAV, and the remaining amount of liquid fertilizer; based on the flight status data and posture status data of the UAV, the environmental data around the UAV, and the remaining amount of liquid fertilizer, controlling at least one of the spraying angle, spraying flow rate, and spray width of the spraying equipment for spraying liquid fertilizer.

[0101] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0103] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A liquid fertilizer spraying system based on drone, characterized in that: include: A drone, a spraying device, an environmental sensor and a controller; the drone, the spraying device and the environmental sensor are electrically connected to the controller respectively; The spraying device is arranged on the drone, and the drone is used to drive the spraying device to move in the air of the target area, and send the flight state data and posture state data of the drone to the controller; The spraying device is used to spray liquid fertilizer to the crops in the target area in response to the control of the controller, and send the remaining amount of the liquid fertilizer to the controller; The environmental sensor is arranged on the drone, and is used to collect environmental data around the drone, and send the collected real-time environmental data to the controller; The controller is used to control at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment based on the received flight status data and posture status data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer.

2. The liquid fertilizer spraying system based on a drone according to claim 1 is characterized in that: The spraying equipment comprises a support rod, a plurality of spraying modules and a liquid level sensor; the support rod is arranged in a horizontal direction, and each of the spraying modules is suspended below the support rod at equal intervals; the spraying module comprises a nozzle assembly and a nozzle angle adjustment steering gear, and the nozzle assembly is rotationally connected to the nozzle angle adjustment steering gear; the liquid level sensor and the nozzle angle adjustment steering gear are electrically connected to the controller; The nozzle angle adjustment servo is used to drive the nozzle assembly to rotate, and send the current rotation angle of the nozzle assembly to the controller; The liquid level sensor is used to obtain the remaining amount of the liquid fertilizer and send the remaining amount of the liquid fertilizer to the controller; The flight status data includes flight altitude; the environmental sensors include a barometer, an anemometer and a wind vane; The controller is specifically used to control the spraying module to drive the rotation of the nozzle assembly based on the received flight status data and posture status data of the UAV, the environmental data around the UAV, the current rotation angle of the nozzle assembly and the remaining amount of the liquid fertilizer, thereby controlling the spraying angle of the spraying equipment to spray the liquid fertilizer.

3. The liquid fertilizer spraying system based on drone according to claim 2, characterized in that: The controller is used to determine the intersection of the extension line of each nozzle assembly and the ground as the target landing point of the liquid fertilizer sprayed by each nozzle assembly based on the flight state data and posture state data of the drone and the current rotation angle of each nozzle assembly, obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly based on the flight state data and posture state data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer, and then obtain the ideal rotation angle of each nozzle assembly based on the target landing point and estimated landing point of the liquid fertilizer sprayed by each nozzle assembly, and then control the spraying module to drive the rotation of the nozzle assembly based on the ideal rotation angle of each nozzle assembly; Among them, the reference point corresponding to the nozzle assembly is the projection point of the rotation connection point between the nozzle assembly and the nozzle angle adjustment steering gear on the ground.

4. The liquid fertilizer spraying system based on a drone according to claim 3, characterized in that: The posture state data of the UAV includes the current rotation angle of the nozzle assembly; The controller is used to calculate the vertical distance between the first end of each nozzle assembly and the ground based on the flight state data and posture state data of the UAV and the current rotation angle of each nozzle assembly, and then input the vertical distance between the first end of each nozzle assembly and the ground, the distance between the suspension point between each spraying module and the support structure and the center point of the support rod, the current rotation angle of each nozzle assembly, the environmental data around the UAV and the remaining amount of the liquid fertilizer into a landing point estimation model to obtain the estimated landing point of the liquid fertilizer sprayed by each nozzle assembly output by the landing point estimation model; The first end of the nozzle assembly is an end of the nozzle assembly close to the ground; the landing point estimation model is obtained after training based on sample data and sample labels corresponding to the sample data; the sample data and the sample labels corresponding to the sample data are collected using a sample drone-based liquid fertilizer spraying system, and the sample drone-based liquid fertilizer spraying system has the same structure as the drone-based liquid fertilizer spraying system; The sample data includes the vertical distance between the first end of the sample nozzle assembly and the ground, the distance between the suspension point between the sample spraying module where the sample nozzle assembly is located and the sample support structure and the center point of the sample support rod, the current rotation angle of the sample nozzle assembly, the environmental data around the sample drone, and the remaining amount of the sample liquid fertilizer; the sample label corresponding to the sample data includes the actual landing point of the sample liquid fertilizer sprayed by the sample nozzle assembly.

5. The liquid fertilizer spraying system based on a drone according to any one of claims 1 to 4, characterized in that: Also includes: An image sensor; the image sensor is disposed on the drone, and the image sensor is electrically connected to the controller; The drone is also used to drive the image sensor to move in the air over the target area in response to control by the controller; The image sensor is used for collecting the image of the target area in response to the control of the controller, and sending the collected image of the target area to the controller; The controller is used to control the flight trajectory of the UAV based on the received image of the target area.

6. The liquid fertilizer spraying system based on a drone according to claim 5, characterized in that: Also includes: Positioning module; the positioning module is arranged on the drone; The positioning module is electrically connected to the controller; The positioning module is used to obtain the position information of the drone, and send the obtained position information of the drone to the controller; The controller is used to control the flight trajectory of the UAV and / or at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer by the spraying equipment based on the received image of the target area, the location information of the UAV and the flight status data and posture status data of the UAV.

7. The liquid fertilizer spraying system based on a drone according to claim 6, characterized in that: The controller is specifically used to perform image recognition on the image of the target area, identify crop rows in the image of the target area, and then control the flight trajectory of the UAV and / or at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer by the spraying equipment based on the crop row information in the identified image of the target area, the position information of the UAV, and the flight status data and posture status data of the UAV.

8. A method for spraying liquid fertilizer based on a drone implemented by the liquid fertilizer spraying system based on a drone as claimed in any one of claims 1 to 7, characterized in that: include: Acquiring flight status data and posture status data of the UAV, environmental data around the UAV, and the remaining amount of the liquid fertilizer; Based on the flight status data and posture status data of the drone, the environmental data around the drone and the remaining amount of the liquid fertilizer, at least one of the spraying angle, spraying flow rate and spray width of the liquid fertilizer sprayed by the spraying equipment carried by the drone is controlled.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the liquid fertilizer spraying method based on the drone as claimed in claim 8 is implemented.

10. 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, the liquid fertilizer spraying method based on the drone as claimed in claim 8 is implemented.

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