A method for implementing a real-time data monitoring system for irrigation areas based on drones

Abstract

The present invention provides a method for implementing a real-time data monitoring system for irrigation areas based on drones, wherein a drone group is evenly deployed over the irrigation area, including a monitoring drone and multiple working drones; the drone establishes a location table by sending a location message; the monitoring drone establishes an irrigation area table by sending an irrigation area message; wherein the location message includes a message ID, coordinates, energy, and a node ID, and the irrigation area message includes a message ID, coordinates, a source two-tuple set, and a destination two-tuple set, and the two-tuple includes a node ID and a coefficient. Through the method for implementing a real-time data monitoring system for irrigation areas based on drones provided by the present invention, the drone can quickly obtain monitoring data of the irrigation area environment, such as humidity and drought level, so as to take effective measures to ensure the healthy growth of crops and the sustainability of crop production, and has broad application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of irrigation district monitoring, and in particular to a method for implementing an irrigation district real-time data monitoring system based on an unmanned aerial vehicle (UAV). Background Art

[0002] Irrigation area environmental monitoring and early warning systems are a key means of providing essential water to farmland, increasing crop yields and improving the stability and sustainability of agricultural production. They automatically monitor soil drought levels to ensure healthy crop growth. Traditional irrigation area environmental monitoring and early warning systems use broadcast data transmission, resulting in high power consumption and long latency. Furthermore, these systems fail to consider energy consumption, path length, and response time, further increasing the cost and latency of irrigation area environmental monitoring and early warning systems. Furthermore, low-energy nodes are unable to collect and provide irrigation area monitoring data, making real-time irrigation area monitoring impossible.

[0003] This system is designed to achieve real-time data monitoring of irrigation areas and ensure the healthy growth of crops in the irrigation areas. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing a real-time data monitoring system for irrigation areas based on drones in response to the shortcomings of the existing technology.

[0005] Technical solution: The present invention discloses a method for implementing a real-time data monitoring system for irrigation areas based on drones, comprising the following steps:

[0006] A swarm of drones is evenly deployed over the irrigation area, comprising a monitoring drone and multiple working drones. The drones establish a location table by sending location messages. The monitoring drones establish an irrigation area table by sending irrigation area messages. The location message includes a message ID, coordinates, energy, and node ID, and the irrigation area message includes a message ID, coordinates, a source two-tuple set, and a destination two-tuple set, where the two-tuple includes a node ID and a coefficient.

[0007] When the working drone receives the irrigation district message, the following steps are executed: if the local node ID is equal to any node ID in the destination binary set in the irrigation district message, then an irrigation district entry is created; if the binary coefficient is not less than the coefficients of other binary pairs in the destination binary set, and the distance between the working drone coordinates and the coordinates in the irrigation district message is not less than a preset threshold, then the irrigation district message is forwarded;

[0008] The working drone sends a publish message when it meets at least one of the following conditions: Condition 1: There is an irrigation area table entry, and the distance between the coordinates of the table entry and the own coordinates is less than a preset threshold; Condition 2: There is a tuple in the irrigation area table entry tuple set that meets Condition 1, and the coefficient of the tuple is not less than the coefficients of other tuples in the tuple set; Condition 3: There is a location table entry, and the node ID of the location table entry is equal to the node ID of the tuple that meets Condition 2:

[0009] If the monitoring drone receives the publishing message, it saves the data set in the publishing message.

[0010] In the method,

[0011] The UAV establishes a location table by sending a location message, including:

[0012] Each drone contains a location table, and a location table entry contains node ID, energy, coordinates, and life cycle;

[0013] In the location message sent by the drone, the message ID is 1, the coordinates and energy are equal to its current coordinates and energy respectively, and the node ID is equal to its own node ID.

[0014] The method further comprises:

[0015] After the neighboring drone receives the location message, if there is a location table entry with a node ID equal to the node ID in the location message, the coordinates and energy of the entry are set to the coordinates and energy in the location message respectively, and the life cycle is set to the maximum value; otherwise, a location table entry is created, the node ID of the location table entry is equal to the node ID in the location message, the coordinates and energy of the location table entry are set to the coordinates and energy in the location message respectively, and the life cycle is set to the maximum value.

[0016] The method further comprises:

[0017] The monitoring drone sets the binary set variable to an empty set, calculates the distance d2 between the preset coordinates and its own coordinates, and performs the following operations for each location entry:

[0018] Calculate the distance d1 between the preset coordinates and the coordinates in the location table entry. If the distance d1 is less than the distance d2, use formula (1) to calculate the coefficient c of the location table entry, construct a binary group, the binary group node ID is equal to the node ID of the location table entry, the coefficient is equal to the coefficient c of the location table entry, and add the binary group to the binary group set;

[0019] c=a1×e1 / e2+a1×d1 / d2(1)

[0020] Wherein, e1 is the energy of the position table entry; e2 is the initial value of the energy; a1 and a2 are the adjustment systems, and their sum is equal to 1.

[0021] In the method,

[0022] In the irrigation area message sent by the monitoring drone, the message ID is 2, the coordinates are equal to the preset coordinates, the source two-tuple set contains only one two-tuple, the node ID of the two-tuple is equal to its own node ID, the coefficient is equal to 0, and the destination two-tuple set is equal to its own two-tuple set.

[0023] The method further comprises:

[0024] If the working drone receiving the irrigation district message meets conditions 4, 5, 6, and 7, it selects the location table entry that meets condition 7, sets the source two-tuple set in the irrigation district message to the destination two-tuple set in the irrigation district message, and the destination two-tuple set in the irrigation district message contains only one two-tuple, the node ID of the two-tuple is equal to the node ID of the location table entry that meets condition 7, the coefficient is equal to 0, and forwards the irrigation district message;

[0025] Condition 4: There is a tuple in the destination tuple set of the irrigation district message, and the node ID of the tuple is equal to the node ID of the working drone;

[0026] Condition 5: The coefficient of the two-tuple that meets condition 4 is not less than the coefficients of other two-tuples in the target two-tuple set in the irrigation district message;

[0027] Condition 6: The distance between the coordinates of the working drone and the coordinates in the irrigation district message is less than a preset threshold;

[0028] Condition 7: There is a location entry for the working drone, and the distance between the coordinates of the location entry and the coordinates in the irrigation district message is less than a preset threshold.

[0029] The method further comprises:

[0030] If the working drone that receives the irrigation district message satisfies conditions 4, 5, and 6 but does not satisfy condition 7, it sets its own two-tuple set variable to an empty set, calculates the distance d4 between the coordinates of the irrigation district message and its own coordinates, and performs the following operations for each of its own location entries: calculates the distance d3 between the coordinates in the irrigation district message and the coordinates in the location entry; if the distance d3 is less than the distance d4, calculates the coefficient c1 of the location entry using formula (2), constructs a two-tuple, the node ID of the two-tuple is equal to the node ID of the location entry, the coefficient is equal to the coefficient c1 of the location entry, and adds the two-tuple to its own two-tuple set;

[0031] c1=a1×e3 / e2+ a1×d3 / d4(2);

[0032] Among them, e3 is the energy in the position table; e2 is the initial value of energy, which is preset; a1 and a2 are the adjustment systems, and their sum is equal to 1.

[0033] The method further comprises:

[0034] The working drone that receives the irrigation district message sets the source two-tuple set in the irrigation district message as the destination two-tuple set in the irrigation district message, sets the destination two-tuple set in the irrigation district message as its own two-tuple set, and forwards the irrigation district message.

[0035] In the method,

[0036] The published message contains the message ID, coordinates, data set and node ID;

[0037] In the publish message sent by the working drone, the message ID is equal to 3, the data set contains the data collected by itself, the coordinates are equal to the coordinates of the irrigation area table item that meets condition 1, and the node ID is equal to the node ID of the two-tuple that meets conditions 2 and 3.

[0038] The method further comprises:

[0039] If the node ID of the working drone receiving the published message is equal to the node ID in the published message, then select an irrigation district table entry whose coordinates are equal to the coordinates in the published message;

[0040] If there is a binary in the binary set of the irrigation area table item, the binary coefficient is not less than the coefficients of other binary groups in the binary set, and there is a location table item, the node ID of the location table item is equal to the binary node ID, the working drone adds the data collected by itself to the data set in the published message, sets the node ID of the published message to the binary node ID, and forwards the published message.

[0041] Beneficial effects: The present invention provides a method for implementing a real-time data monitoring system for irrigation areas based on drones. Through the method for implementing a real-time data monitoring system for irrigation areas provided by the present invention, drones can quickly obtain monitoring data of the irrigation area environment, such as humidity and drought level, so as to take effective measures to ensure the healthy growth of crops and the sustainability of crop production, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0043] Figure 1This is a flow chart of a method for implementing a real-time data monitoring system for irrigation areas based on drones according to an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the process of establishing a location table according to an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a process for establishing an irrigation area table according to an embodiment of the present invention;

[0046] Figure 4 Schematic diagram of the irrigation district real-time data monitoring process according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the described embodiments are only a portion of the embodiments of the present invention, rather than all of them. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without requiring creative effort are within the scope of protection of the present invention.

[0048] Unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The terms "including" or "comprising" used in the embodiments of the present invention neither limit the shapes, numbers, steps, actions, operations, components, originals and / or their groups mentioned, nor exclude the appearance or addition of one or more other different shapes, numbers, steps, actions, operations, components, originals and / or their groups, or the addition of these. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number and order of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn in accordance with actual proportional relationships, and that the techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices shown should be considered part of the authorized specification. In all examples shown and discussed herein, any specific other examples may have different values. It should be noted that similar symbols and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0050] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in the embodiments of the present invention and the features of different embodiments or examples, unless they are mutually inconsistent.

[0051] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0052] Figure 1 FIG. 1 is a flow chart of a method for implementing a real-time data monitoring system for an irrigation area based on a drone according to an embodiment of the present invention. Figure 1 As shown, a method for implementing a real-time data monitoring system for an irrigation area based on a drone includes the following steps:

[0053] A swarm of drones is evenly deployed over the irrigation area, including a monitoring drone and multiple working drones; the drone establishes a location table by sending location messages; the monitoring drone establishes an irrigation area table by sending irrigation area messages; wherein the location message includes a message ID, coordinates, energy, and node ID, and the irrigation area message includes a message ID, coordinates, a source two-tuple set, and a destination two-tuple set, and the two-tuple includes a node ID and a coefficient.

[0054] When the working drone receives the irrigation district message, the following steps are executed: if the local node ID is equal to any node ID in the destination binary set in the irrigation district message, an irrigation district table entry is created; if the binary coefficient is not less than the other binary coefficients in the destination binary set, and the distance between the working drone coordinates and the coordinates in the irrigation district message is not less than a preset threshold, the irrigation district message is forwarded.

[0055] The working drone sends a publish message when it meets at least one of the following conditions: Condition 1: There is an irrigation area table entry, and the distance between the coordinates of the table entry and its own coordinates is less than a preset threshold; Condition 2: There is a tuple in the irrigation area table entry tuple set that meets Condition 1, and the coefficient of the tuple is not less than the coefficients of other tuples in the tuple set; Condition 3: There is a location table entry, and the node ID of the location table entry is equal to the node ID of the tuple that meets Condition 2.

[0056] If the monitoring drone receives the publishing message, it saves the data set in the publishing message.

[0057] The implementation method of the real-time data monitoring system for irrigation areas based on drones in the embodiment of the present invention, through the implementation method of the real-time data monitoring system for irrigation areas provided by the embodiment of the present invention, the drone can quickly obtain monitoring data of the irrigation area environment, such as humidity and drought level, so as to take effective measures to ensure the healthy growth of crops and the sustainability of crop production, and has broad application prospects.

[0058] Figure 2 This is a schematic diagram of the process of establishing a location table according to an embodiment of the present invention. The system is composed of drones evenly distributed over the irrigation area, including a monitoring drone and multiple working drones;

[0059] Each drone is uniquely identified by a node ID, which can be a hardware ID;

[0060] Each drone contains a location table, and a location table entry contains node ID, energy, coordinates and life cycle;

[0061] The location message contains the message ID, coordinates, energy and node ID;

[0062] The drone regularly performs the following process to build a position table:

[0063] Step 101: Start;

[0064] Step 102: The drone sends a location message with a message ID of 1, coordinates and energy equal to its current coordinates and energy, and node ID equal to its own node ID.

[0065] Step 103: After the neighboring drone receives the location message, if there is a location entry with a node ID equal to the node ID in the location message, the coordinates and energy of the entry are set to the coordinates and energy in the location message, and the lifetime is set to the maximum value. Otherwise, a location entry is created with a node ID equal to the node ID in the location message, the coordinates and energy of the entry are set to the coordinates and energy in the location message, and the lifetime is set to the maximum value.

[0066] Step 104: End.

[0067] Through the above process, the drone can obtain the coordinates and energy of the selected neighboring drones, realizing rapid data collection and monitoring.

[0068] Figure 3 This is a schematic diagram of the process of establishing an irrigation area table according to an embodiment of the present invention. Each drone stores a set of two-tuples, each consisting of a node ID and a coefficient.

[0069] Each drone stores an irrigation area table. An irrigation area table entry contains a set of two tuples, coordinates, and lifecycles. The irrigation area table is initially empty.

[0070] The irrigation zone message contains the message ID, coordinates, source two-tuple set, and destination two-tuple set;

[0071] The monitoring drone performs the following process to create an irrigation area table entry with coordinates CO1:

[0072] Step 201: Start;

[0073] Step 202: The monitoring drone sets the binary set variable to an empty set, calculates the distance d2 between the coordinate CO1 and its own coordinate using formula (1), and performs the following operations for each location table entry: calculates the distance d1 between the coordinate CO1 and the coordinate in the location table entry using formula (1), and if the distance d1 is less than the distance d2, calculates the coefficient c of the location table entry using formula (1), where e1 is the energy of the location table entry, e2 is the initial value of the energy, which is preset, a1 and a2 are the adjustment systems, and the sum of a1 and a2 is equal to 1, constructs a binary set, the node ID of the binary set is equal to the node ID of the location table entry, the coefficient is equal to the coefficient c of the location table entry, and adds the binary set to the binary set;

[0074] c=a1×e1 / e2+a1×d1 / d2(1)

[0075] Step 203: The monitoring drone sends an irrigation zone message with a message ID of 2, coordinates equal to CO1, a source two-tuple set containing only one two-tuple, a node ID equal to its own node ID, a coefficient equal to 0, and a destination two-tuple set equal to its own two-tuple set.

[0076] Step 204: The working drone that receives the irrigation district message determines whether there is a tuple in the destination tuple set of the irrigation district message whose node ID is equal to its own node ID. If so, it executes step 205; otherwise, it executes step 212.

[0077] Step 205: The working drone that receives the irrigation district message determines whether there is an irrigation district entry with coordinates equal to the coordinates in the irrigation district message. If so, the two-tuple set of the entry is set to the source two-tuple set in the irrigation district message, and the lifecycle is set to the maximum value. Otherwise, a irrigation district entry is created, the coordinates of the entry are equal to the coordinates in the irrigation district message, the two-tuple set of the entry is set to the source two-tuple set in the irrigation district message, and the lifecycle is set to the maximum value.

[0078] Step 206: The working drone that receives the irrigation district message selects a binary from the destination binary set of the irrigation district message, whose node ID is equal to its own node ID, and determines whether the coefficient of the binary is not less than the coefficients of all other binary in the destination binary set. If so, it executes step 207; otherwise, it executes step 212.

[0079] Step 207: The working drone that receives the irrigation zone message determines whether the distance between its own coordinates and the coordinates in the irrigation zone message is less than a threshold TH1. The threshold TH1 is preset and the threshold TH1 is set within a range of 5%-20% of the communication radius. If so, step 212 is executed; otherwise, step 208 is executed.

[0080] Step 208: The working drone that receives the irrigation district message determines whether there is a location entry whose coordinates are less than a threshold value TH1 from the coordinates in the irrigation district message. If so, step 209 is executed; otherwise, step 210 is executed.

[0081] Step 209: The working drone that receives the irrigation district message selects a location entry whose coordinates are less than a threshold TH1 from the coordinates in the irrigation district message, sets the source two-tuple set in the irrigation district message to the destination two-tuple set in the irrigation district message, and the destination two-tuple set in the irrigation district message contains only one two-tuple whose node ID is equal to the node ID of the location entry and whose coefficient is 0. The irrigation district message is forwarded, and step 204 is executed.

[0082] Step 210: The working drone that receives the irrigation district message sets its own binary set variable to an empty set, calculates the distance d4 between the coordinates of the irrigation district message and its own coordinates, and performs the following operations for each location table entry: calculates the distance d3 between the coordinates in the irrigation district message and the coordinates in the location table entry. If the distance d3 is less than the distance d4, the coefficient c1 of the location table entry is calculated using formula (2), where e3 is the energy in the location table entry, e2 is the initial value of the energy, and is preset. a1 and a2 are the regulation systems, and the sum of a1 and a2 is equal to 1. A binary set is constructed, the node ID of the binary set is equal to the node ID of the location table entry, and the coefficient is equal to the coefficient c1 of the location table entry. The binary set is added to its own binary set;

[0083] c1=a1×e3 / e2+ a1×d3 / d4 (2)

[0084] Step 211: The working drone that receives the irrigation district message sets the source two-tuple set in the irrigation district message as the destination two-tuple set in the irrigation district message, sets the destination two-tuple set in the irrigation district message as its own two-tuple set, forwards the irrigation district message, and executes step 204;

[0085] Step 212: End.

[0086] The monitoring drone executes the above process to establish an irrigation district table entry with coordinates CO1, thereby obtaining the irrigation district information collected at coordinates CO1 through the irrigation district table entry and performing real-time monitoring.

[0087] Figure 4 Schematic diagram of the irrigation district real-time data monitoring process according to an embodiment of the present invention.

[0088] The published message contains the message ID, coordinates, data set and node ID;

[0089] If a working drone has an irrigation district entry E1 and the distance between its coordinates and the coordinates of the irrigation district entry is less than the threshold TH1, the following process is performed regularly to obtain real-time data of the target irrigation district:

[0090] Step 301: Start;

[0091] Step 302: The working drone determines whether the two-tuple set of the irrigation area entry E1 is an empty set. If so, step 313 is executed; otherwise, step 303 is executed.

[0092] Step 303: The working drone selects a binary from the binary set of the irrigation area entry E1, whose coefficient is not less than the coefficients of the other binary. If there is a location entry whose node ID is equal to the node ID in the binary, then the process proceeds to step 305; otherwise, the process proceeds to step 304.

[0093] Step 304: The working drone deletes the two-tuple selected in step 303 from the two-tuple set of the irrigation area entry E1 and executes step 302;

[0094] Step 305: The working drone sends a publish message with a message ID of 3, a data set containing the data it has collected, coordinates equal to the coordinates of the irrigation area entry E1, and a node ID equal to the node ID of the tuple selected in step 303;

[0095] Step 306: If the monitoring drone receives the release message, execute step 312; otherwise, execute step 307;

[0096] Step 307: The working drone that receives the published message determines whether its node ID is equal to the node ID in the published message. If so, it executes step 308; otherwise, it executes step 313.

[0097] Step 308: The working drone that receives the published message selects an irrigation district entry whose coordinates are equal to the coordinates in the published message and determines whether the two-tuple set of the irrigation district entry is empty. If so, step 313 is executed; otherwise, step 309 is executed.

[0098] Step 309: The working drone that receives the published message selects a two-tuple from the two-tuple set of the irrigation area table entries selected in step 308, whose coefficient is not less than the coefficients of the other two-tuples. If there is a location table entry whose node ID is equal to the node ID in the two-tuple, then step 311 is executed; otherwise, step 310 is executed.

[0099] Step 310: The working drone that receives the published message deletes the two-tuple selected in step 309 from the two-tuple set of the irrigation district table entry selected in step 308, and executes step 308;

[0100] Step 311: The working drone that receives the publish message adds its collected data to the data set in the publish message, sets the node ID of the publish message to the node ID of the two-tuple selected in step 309, forwards the publish message, and executes step 306;

[0101] Step 312: The monitoring drone saves the data set of the received publishing message;

[0102] Step 313: End;

[0103] The distance d between coordinates CO1 and CO2 is shown in formula (3), where x1, y1, and z1 are the horizontal coordinate value, vertical coordinate value, and height value of coordinate CO1, respectively; x2, y2, and z2 are the horizontal coordinate value, vertical coordinate value, and height value of coordinate CO2, respectively;

[0104] (3)

[0105] The monitoring drone receives the irrigation area data collected by multiple working drones near the target coordinates through the binary set of the irrigation area table, thereby greatly enhancing the accuracy of the data and the real-time and robustness of the monitoring system.

[0106] Example 1

[0107] Based on the simulation parameters in Table 1, this example simulates a method for implementing a drone-based real-time irrigation district data monitoring system according to the present invention. Performance analysis shows that when the monitoring drone is far away from the target irrigation district, the success rate of the monitoring drone acquiring irrigation district environmental monitoring data decreases. However, when the monitoring drone is further away from the target irrigation district, the success rate of the monitoring drone acquiring irrigation district environmental monitoring data increases, with an average success rate of 95.6% for real-time irrigation district monitoring data.

[0108] Table 1

[0109]

[0110] The present invention provides a method for implementing a drone-based real-time irrigation district data monitoring system. Numerous methods and approaches exist for implementing this technical solution. The foregoing description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A method for implementing a real-time data monitoring system for irrigation areas based on drones, characterized in that: The following steps are involved: A swarm of drones is evenly deployed over the irrigation area, comprising a monitoring drone and multiple working drones. The drones establish a location table by sending location messages. The monitoring drones establish an irrigation area table by sending irrigation area messages. The location message includes a message ID, coordinates, energy, and node ID, and the irrigation area message includes a message ID, coordinates, a source two-tuple set, and a destination two-tuple set, where the two-tuple includes a node ID and a coefficient. When the working drone receives the irrigation district message, the following steps are executed: if the local node ID is equal to any node ID in the destination binary set in the irrigation district message, then an irrigation district entry is created; if the binary coefficient is not less than the coefficients of other binary pairs in the destination binary set, and the distance between the working drone coordinates and the coordinates in the irrigation district message is not less than a preset threshold, then the irrigation district message is forwarded; The working drone sends a publish message when it meets at least one of the following conditions: Condition 1: There is an irrigation area table entry, and the distance between the coordinates of the table entry and the own coordinates is less than a preset threshold; Condition 2: There is a tuple in the irrigation area table entry tuple set that meets Condition 1, and the coefficient of the tuple is not less than the coefficients of other tuples in the tuple set; Condition 3: There is a location table entry, and the node ID of the location table entry is equal to the node ID of the tuple that meets Condition 2: If the monitoring drone receives the release message, it saves the data set in the release message; The method further comprises: The monitoring drone sets the binary set variable to an empty set, calculates the distance d2 between the preset coordinates and its own coordinates, and performs the following operations for each location entry: Calculate the distance d1 between the preset coordinates and the coordinates in the location table entry. If the distance d1 is less than the distance d2, use formula (1) to calculate the coefficient c of the location table entry, construct a binary group, the binary group node ID is equal to the node ID of the location table entry, the coefficient is equal to the coefficient c of the location table entry, and add the binary group to the binary group set; c=a1×e1 / e2+a1×d1 / d2(1) Wherein, e1 is the energy of the position table entry; e2 is the initial value of the energy; a1 and a2 are the adjustment systems, and their sum is equal to 1.

2. The method for implementing a real-time data monitoring system for irrigation areas based on drones according to claim 1, characterized in that: The UAV establishes a location table by sending a location message, including: Each drone contains a location table, and a location table entry contains node ID, energy, coordinates, and life cycle; In the location message sent by the drone, the message ID is 1, the coordinates and energy are equal to its current coordinates and energy respectively, and the node ID is equal to its own node ID.

3. The method for implementing a real-time data monitoring system for an irrigation area based on a drone according to claim 1, characterized in that: The method further comprises: After the neighboring drone receives the location message, if there is a location table entry with a node ID equal to the node ID in the location message, the coordinates and energy of the entry are set to the coordinates and energy in the location message respectively, and the life cycle is set to the maximum value; otherwise, a location table entry is created, the node ID of the location table entry is equal to the node ID in the location message, the coordinates and energy of the location table entry are set to the coordinates and energy in the location message respectively, and the life cycle is set to the maximum value.

4. The method for implementing a real-time data monitoring system for an irrigation area based on a drone according to any one of claims 1 to 3, characterized in that: In the irrigation area message sent by the monitoring drone, the message ID is 2, the coordinates are equal to the preset coordinates, the source two-tuple set contains only one two-tuple, the node ID of the two-tuple is equal to its own node ID, the coefficient is equal to 0, and the destination two-tuple set is equal to its own two-tuple set.

5. The method for implementing a real-time data monitoring system for irrigation areas based on drones according to any one of claims 1 to 3, characterized in that: The method further comprises: If the working drone receiving the irrigation district message meets conditions 4, 5, 6, and 7, it selects the location table entry that meets condition 7, sets the source two-tuple set in the irrigation district message to the destination two-tuple set in the irrigation district message, and the destination two-tuple set in the irrigation district message contains only one two-tuple, the node ID of the two-tuple is equal to the node ID of the location table entry that meets condition 7, the coefficient is equal to 0, and forwards the irrigation district message; Condition 4: There is a tuple in the destination tuple set of the irrigation district message, and the node ID of the tuple is equal to the node ID of the working drone; Condition 5: The coefficient of the two-tuple that meets condition 4 is not less than the coefficients of other two-tuples in the target two-tuple set in the irrigation district message; Condition 6: The distance between the coordinates of the working drone and the coordinates in the irrigation district message is less than a preset threshold; Condition 7: There is a location entry for the working drone, and the distance between the coordinates of the location entry and the coordinates in the irrigation district message is less than a preset threshold.

6. The method for implementing a real-time data monitoring system for an irrigation area based on a drone according to claim 5, characterized in that: The method further comprises: If the working drone that receives the irrigation district message satisfies conditions 4, 5, and 6 but does not satisfy condition 7, it sets its own two-tuple set variable to an empty set, calculates the distance d4 between the coordinates of the irrigation district message and its own coordinates, and performs the following operations for each of its own location entries: calculates the distance d3 between the coordinates in the irrigation district message and the coordinates in the location entry; if the distance d3 is less than the distance d4, calculates the coefficient c1 of the location entry using formula (2), constructs a two-tuple, the node ID of the two-tuple is equal to the node ID of the location entry, the coefficient is equal to the coefficient c1 of the location entry, and adds the two-tuple to its own two-tuple set; c1=a1×e3 / e2+ a1×d3 / d4(2); Among them, e3 is the energy in the position table; e2 is the initial value of energy, which is preset; a1 and a2 are the adjustment systems, and their sum is equal to 1.

7. The method for implementing a real-time data monitoring system for an irrigation area based on a drone according to claim 6, characterized in that: The method further comprises: The working drone that receives the irrigation district message sets the source two-tuple set in the irrigation district message as the destination two-tuple set in the irrigation district message, sets the destination two-tuple set in the irrigation district message as its own two-tuple set, and forwards the irrigation district message.

8. The method for implementing a real-time data monitoring system for irrigation areas based on drones according to any one of claims 1 to 3, characterized in that: The published message contains the message ID, coordinates, data set and node ID; In the publish message sent by the working drone, the message ID is equal to 3, the data set contains the data collected by itself, the coordinates are equal to the coordinates of the irrigation area table item that meets condition 1, and the node ID is equal to the node ID of the two-tuple that meets conditions 2 and 3.

9. The method for implementing a real-time data monitoring system for an irrigation area based on a drone according to claim 8, characterized in that: The method further comprises: If the node ID of the working drone receiving the published message is equal to the node ID in the published message, then select an irrigation district table entry whose coordinates are equal to the coordinates in the published message; If there is a binary in the binary set of the irrigation area table item, the binary coefficient is not less than the coefficients of other binary groups in the binary set, and there is a location table item, the node ID of the location table item is equal to the binary node ID, the working drone adds the data collected by itself to the data set in the published message, sets the node ID of the published message to the binary node ID, and forwards the published message.

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