Plant protection unmanned aerial vehicle cluster control method based on communication perception analysis

Abstract

The invention relates to a plant protection unmanned aerial vehicle cluster control method based on communication perception analysis, and belongs to the technical field of plant protection unmanned aerial vehicle control, and the method comprises the steps: obtaining a pesticide application region with abnormal control, obtaining a normally controlled pesticide application region according to the pesticide application region with abnormal control, and obtaining the pesticide application area information of the pesticide application region; and the working number of the plant protection unmanned aerial vehicles is configured based on the pesticide application area information of the pesticide application area, spraying task distribution is performed on the normally controlled pesticide application area according to the working number of the plant protection unmanned aerial vehicles, and the spraying working area of the plant protection unmanned aerial vehicles is dynamically adjusted. The unmanned aerial vehicle is subjected to cluster control according to the communication characteristic data information between the plant protection unmanned aerial vehicle and the communication data acquisition platform, so that the rationality of the plant protection unmanned aerial vehicle in the pesticide application process can be improved, the control of the plant protection unmanned aerial vehicle in the pesticide application process is optimized, and the plant protection unmanned aerial vehicle which cannot be controlled is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of plant protection UAV clusters, and particularly to a control method for plant protection UAV clusters based on communication perception analysis. Background Art

[0002] A plant protection UAV, also known as an unmanned aerial vehicle, as the name implies, is an unmanned aircraft used for agricultural and forestry plant protection operations. This type of unmanned aircraft consists of a flight platform (fixed-wing, helicopter, multi-rotor aircraft), a navigation flight control system, and a spraying mechanism. Through ground remote control or navigation flight control, spraying operations can be achieved, and agents, seeds, powders, etc. can be sprayed. The unmanned small helicopter has many advantages such as low operating altitude, less drift, ability to hover in the air, no need for a dedicated takeoff and landing airport, the downward airflow generated by the rotor helps to increase the penetration of the fog flow into the crops, high control effect, long-distance remote control operation, the spraying operators are protected from the danger of exposure to pesticides, and the safety of spraying operations is improved. In addition, the electric unmanned helicopter spraying technology can save at least 50% of the pesticide usage and 90% of the water usage by using the spray spraying method, which will greatly reduce the resource cost. Compared with gasoline-powered UAVs, electric UAVs are smaller in overall size, lighter in weight, have a lower depreciation rate, a relatively low unit operation labor cost, and are easy to maintain. However, currently, the plant protection UAVs are often remotely controlled to perform spraying tasks. Once communication anomalies occur during the spraying process, the plant protection UAVs will lose contact, and thus it is impossible to understand the spraying situation of the plant protection UAVs during the spraying task, and even the plant protection UAVs may not be able to complete the work tasks normally. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a control method for plant protection UAV clusters based on communication perception analysis.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The first aspect of the present invention provides a control method for plant protection UAV clusters based on communication perception analysis, including the following steps:

[0006] Construct a communication data acquisition platform, and collect real-time communication feature data information of the current plant protection UAV in each spraying area through the communication data acquisition platform;

[0007] Through communication feature analysis of the real-time communication feature data information of the current plant protection UAV in each spraying area, obtain the spraying areas with abnormal control;

[0008] Based on the spraying areas with abnormal control, obtain the spraying areas with normal control, and obtain the spraying area information of the spraying areas. Based on the spraying area information of the spraying areas, configure the working quantity of the plant protection UAVs;

[0009] Allocate spraying tasks to the normally controlled spraying areas according to the working quantity of the plant protection UAVs, and dynamically adjust the spraying working areas of the plant protection UAVs.

[0010] Furthermore, in the plant protection UAV cluster control method based on communication perception analysis, a communication data acquisition platform is constructed, specifically including:

[0011] Construct a communication data acquisition platform. By setting communication devices on each spraying area, communicate with the communication data acquisition platform through the communication devices, and set the perception range of a single communication device in each spraying area with the communication device as a reference position.

[0012] Obtain the estimated spraying area information of each spraying area, and initialize the installation quantity and installation position of the communication devices according to the estimated spraying area information of each spraying area.

[0013] Calculate the estimated perception range of the communication devices according to the perception range of a single communication device, the installation quantity and installation position of the communication devices in each spraying area, and judge whether the estimated perception range of the communication devices is greater than the estimated spraying area information of the spraying area.

[0014] When the estimated perception range of the communication devices is not greater than the estimated spraying area information of the spraying area, re-plan the installation quantity and installation position of the communication devices in the corresponding spraying area until the estimated perception range of the communication devices is greater than the estimated spraying area information of the spraying area.

[0015] Furthermore, in the plant protection UAV cluster control method based on communication perception analysis, obtain the spraying areas with abnormal control by performing communication feature analysis on the real-time communication feature data information of the current plant protection UAVs in each spraying area, specifically including:

[0016] Set communication feature data evaluation indexes, and judge whether the real-time communication feature data information of the current plant protection UAVs in each spraying area is greater than the communication feature data evaluation indexes.

[0017] When the real-time communication feature data information is greater than the communication feature data evaluation indexes, regard the spraying areas where the real-time communication feature data information is not greater than the communication feature data evaluation indexes as the spraying areas with abnormal control.

[0018] Furthermore, in the plant protection UAV cluster control method based on communication perception analysis, obtain the normally controlled spraying areas according to the spraying areas with abnormal control, specifically including:

[0019] Obtain the application area information in each application area and the application area information of the application areas with abnormal control;

[0020] Calculate the application areas with normal control based on the application area information in each application area and the application area information of the application areas with abnormal control, and display them in a preset manner.

[0021] Further, in the method for controlling a cluster of plant protection unmanned aerial vehicles based on communication perception analysis, obtain the application area information of the application area, and configure the working quantity of the plant protection unmanned aerial vehicles based on the application area information of the application area. Specifically:

[0022] Obtain the application area information of the application area, the work task information, and the estimated spraying area information of a single plant protection unmanned aerial vehicle under the work task information, and initialize the working quantity information of the plant protection unmanned aerial vehicles according to the work task information and the estimated spraying area information of a single plant protection unmanned aerial vehicle under the work task information;

[0023] Calculate the total estimated spraying area information under the current initialized working quantity information of the plant protection unmanned aerial vehicles according to the initialized working quantity information of the plant protection unmanned aerial vehicles and the estimated spraying area information of a single plant protection unmanned aerial vehicle under the work task information;

[0024] When the total estimated spraying area information under the current initialized working quantity information of the plant protection unmanned aerial vehicles is not less than the application area information of the application area, output the working quantity of the plant protection unmanned aerial vehicles;

[0025] When the total estimated spraying area information under the current initialized working quantity information of the plant protection unmanned aerial vehicles is less than the application area information of the application area, uniformly increase the working quantity of the plant protection unmanned aerial vehicles until it is not less than the application area information of the application area.

[0026] Further, in the method for controlling a cluster of plant protection unmanned aerial vehicles based on communication perception analysis, allocate spraying tasks to the application areas with normal control according to the working quantity of the plant protection unmanned aerial vehicles. Specifically include:

[0027] Obtain the characteristic data of the change in spraying accuracy when the plant protection unmanned aerial vehicle executes the spraying task, and construct a spraying accuracy prediction model based on a deep neural network. Input the characteristic data of the change in spraying accuracy when the plant protection unmanned aerial vehicle executes the spraying task into the spraying accuracy prediction model for training;

[0028] After training, when the prediction accuracy of the spraying accuracy prediction model is greater than the preset prediction accuracy threshold, save the model parameters of the spraying accuracy prediction model and output the spraying accuracy prediction model;

[0029] Obtain the data on the characteristics of the spraying accuracy change of each plant protection UAV in the warehouse within a preset time, and input the data on the characteristics of the spraying accuracy change of each plant protection UAV in the warehouse within the preset time into the spraying accuracy prediction model for prediction;

[0030] Through prediction, obtain the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp, and perform work task allocation according to the number of working plant protection UAVs and the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp.

[0031] Furthermore, in the method for controlling a cluster of plant protection UAVs based on communication perception analysis, performing work task allocation according to the number of working plant protection UAVs and the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp specifically includes:

[0032] Randomly select plant protection UAVs for work according to the number of working plant protection UAVs and the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp to obtain a set of plant protection UAV work task allocation data;

[0033] Judge whether there is a plant protection UAV in the set of plant protection UAV work task allocation data whose spraying accuracy characteristic data is lower than the threshold of the preset spraying accuracy characteristic data;

[0034] When there is a plant protection UAV in the set of plant protection UAV work task allocation data whose spraying accuracy characteristic data is lower than the threshold of the preset spraying accuracy characteristic data, update the plant protection UAVs for work in the set of plant protection UAV work task allocation data until there is no plant protection UAV whose spraying accuracy characteristic data is lower than the threshold of the preset spraying accuracy characteristic data;

[0035] When there is no plant protection UAV in the set of plant protection UAV work task allocation data whose spraying accuracy characteristic data is lower than the threshold of the preset spraying accuracy characteristic data, output the set of plant protection UAV work task allocation data, and perform work task allocation according to the set of plant protection UAV work task allocation data.

[0036] Furthermore, in the method for controlling a cluster of plant protection UAVs based on communication perception analysis, dynamically adjust the spraying work area of the plant protection UAVs, which specifically includes:

[0037] Obtain the real-time communication characteristic data information of the plant protection UAVs in the spraying work area, and judge whether the real-time communication characteristic data information of the plant protection UAVs in the spraying work area is lower than the communication characteristic data evaluation index;

[0038] When the real-time communication characteristic data information of the plant protection UAVs in the spraying work area is lower than the communication characteristic data evaluation index, re-plan the spraying work area of the plant protection UAVs;

[0039] When the real-time communication characteristic data information of the plant protection UAV in the spraying working area is not lower than the communication characteristic data evaluation index, the spraying working area of the plant protection UAV is maintained unchanged.

[0040] The second aspect of the present invention provides a plant protection UAV cluster control system based on communication perception analysis, including a memory and a processor. The memory includes a program for the plant protection UAV cluster control method based on communication perception analysis. When the program for the plant protection UAV cluster control method based on communication perception analysis is executed by the processor, the steps of any of the plant protection UAV cluster control methods based on communication perception analysis are implemented.

[0041] The third aspect of the present invention provides a computer-readable storage medium, including a program for the plant protection UAV cluster control method based on communication perception analysis. When the program for the plant protection UAV cluster control method based on communication perception analysis is executed by the processor, the steps of any of the plant protection UAV cluster control methods based on communication perception analysis are implemented.

[0042] The present invention solves the defects in the background technology and has the following beneficial effects:

[0043] The present invention constructs a communication data acquisition platform, collects the real-time communication characteristic data information of the current plant protection UAV in each spraying area through the communication data acquisition platform, and then analyzes the communication characteristics of the real-time communication characteristic data information of the current plant protection UAV in each spraying area to obtain the spraying areas with abnormal control. Thus, the spraying areas with normal control are obtained based on the spraying areas with abnormal control, and the spraying area information of the spraying areas is obtained. The number of working plant protection UAVs is configured based on the spraying area information of the spraying areas. Finally, the spraying tasks are allocated to the spraying areas with normal control according to the number of working plant protection UAVs, and the spraying working area of the plant protection UAV is dynamically adjusted. By performing cluster control on the UAVs according to the communication characteristic data information between the plant protection UAV and the communication data acquisition platform, the present invention can improve the rationality of the plant protection UAV during the spraying process, optimize the control of the plant protection UAV during the spraying process, and avoid the occurrence of uncontrollable plant protection UAVs. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 Shows the overall flowchart of the cluster control method for plant protection UAVs based on communication perception analysis;

[0046] Figure 2 Shows the partial method flowchart of the cluster control method for plant protection UAVs based on communication perception analysis;

[0047] Figure 3 Shows the system block diagram of the cluster control system for plant protection UAVs based on communication perception analysis. Detailed implementation manners

[0048] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0049] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0050] As Figure 1 shown, the first aspect of the present invention provides a cluster control method for plant protection UAVs based on communication perception analysis, including the following steps:

[0051] S102: Construct a communication data acquisition platform, and collect real-time communication characteristic data information of the current plant protection UAV in each spraying area through the communication data acquisition platform;

[0052] S104: Obtain the spraying areas with abnormal control by performing communication characteristic analysis on the real-time communication characteristic data information of the current plant protection UAV in each spraying area;

[0053] S106: Obtain the spraying areas with normal control according to the spraying areas with abnormal control, and obtain the spraying area information of the spraying areas. Configure the working quantity of the plant protection UAVs based on the spraying area information of the spraying areas;

[0054] S108: Allocate spraying tasks to the spraying areas with normal control according to the working quantity of the plant protection UAVs, and dynamically adjust the spraying working areas of the plant protection UAVs.

[0055] It should be noted that, by performing cluster control on the UAVs according to the communication characteristic data information between the plant protection UAVs and the communication data acquisition platform, the present invention can improve the rationality of the plant protection UAVs during the spraying process, optimize the control of the plant protection UAVs during the spraying process, and avoid the occurrence of uncontrollable plant protection UAVs.

[0056] Further, in the method for controlling a cluster of plant protection UAVs based on communication perception analysis, a communication data acquisition platform is constructed, specifically including:

[0057] Construct a communication data acquisition platform. By setting communication devices in each spraying area, the communication devices communicate with the communication data acquisition platform. Taking the communication device as a reference position, set the sensing range of a single communication device in each spraying area.

[0058] Obtain the estimated spraying area information of each spraying area, and initialize the installation quantity and installation position of the communication devices according to the estimated spraying area information of each spraying area.

[0059] Calculate the estimated sensing range of the communication devices based on the sensing range of a single communication device, the installation quantity, and the installation position in each spraying area, and determine whether the estimated sensing range of the communication devices is greater than the estimated spraying area information of the spraying area.

[0060] When the estimated sensing range of the communication devices is not greater than the estimated spraying area information of the spraying area, re-plan the installation quantity and installation position of the communication devices in the corresponding spraying area until the estimated sensing range of the communication devices is greater than the estimated spraying area information of the spraying area.

[0061] It should be noted that, among them, the sensing range of a single communication device in each spraying area can be a circular sensing range centered on the installation position of the communication device or a rectangular sensing range centered on the installation position of the communication device. Through this method, the actual communication data of the plant protection UAVs in the spraying area can be sensed, contributing to the cluster control.

[0062] Further, in the method for controlling a cluster of plant protection UAVs based on communication perception analysis, by performing communication feature analysis on the real-time communication feature data information of the current plant protection UAVs in each spraying area, obtain the spraying areas with abnormal control, specifically including:

[0063] Set communication feature data evaluation indicators, and determine whether the real-time communication feature data information of the current plant protection UAVs in each spraying area is greater than the communication feature data evaluation indicators;

[0064] When the real-time communication feature data information is greater than the communication feature data evaluation indicators, then use the spraying areas where the real-time communication feature data information is not greater than the communication feature data evaluation indicators as the spraying areas with abnormal control.

[0065] It should be noted that the communication feature data includes data such as information transmission rate, information transmission speed, and information transmission volume within a unit time.

[0066] Further, in the method for controlling a cluster of plant protection drones based on communication perception analysis, obtaining the application areas under normal control according to the application areas with abnormal control specifically includes:

[0067] Obtaining the application area information of each application area and the application area information of the application areas with abnormal control;

[0068] Calculating the application areas under normal control based on the application area information of each application area and the application area information of the application areas with abnormal control, and displaying them in a preset manner.

[0069] Further, in the method for controlling a cluster of plant protection drones based on communication perception analysis, obtaining the application area information of the application areas, and configuring the number of working plant protection drones based on the application area information of the application areas, specifically:

[0070] Obtaining the application area information of the application areas, the work task information, and the estimated spraying area information of a single plant protection drone under the work task information, and initializing the work quantity information of the plant protection drones according to the work task information and the estimated spraying area information of a single plant protection drone under the work task information;

[0071] Calculating the total estimated spraying area information under the current initialized work quantity information of the plant protection drones based on the initialized work quantity information of the plant protection drones and the estimated spraying area information of a single plant protection drone under the work task information;

[0072] When the total estimated spraying area information under the current initialized work quantity information of the plant protection drones is not less than the application area information of the application areas, outputting the work quantity of the plant protection drones;

[0073] When the total estimated spraying area information under the current initialized work quantity information of the plant protection drones is less than the application area information of the application areas, uniformly increasing the work quantity of the plant protection drones until it is not less than the application area information of the application areas.

[0074] It should be noted that through this method, the rationality of the work assignment of the plant protection drones can be improved.

[0075] Further, in the method for controlling a cluster of plant protection drones based on communication perception analysis, performing spraying task allocation on the application areas under normal control according to the work quantity of the plant protection drones, specifically including:

[0076] Obtaining the characteristic data of the change in spraying accuracy when the plant protection drones perform spraying tasks, constructing a spraying accuracy prediction model based on a deep neural network, and inputting the characteristic data of the change in spraying accuracy when the plant protection drones perform spraying tasks into the spraying accuracy prediction model for training;

[0077] Through training, when the prediction accuracy of the pesticide application accuracy prediction model is greater than the preset prediction accuracy threshold, save the model parameters of the pesticide application accuracy prediction model and output the pesticide application accuracy prediction model;

[0078] Obtain the pesticide application accuracy change characteristic data of each plant protection UAV in the warehouse within a preset time, and input the pesticide application accuracy change characteristic data of each plant protection UAV in the warehouse within a preset time into the pesticide application accuracy prediction model for prediction;

[0079] Through prediction, obtain the pesticide application accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp, and perform work task allocation according to the number of working plant protection UAVs and the pesticide application accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp.

[0080] It should be noted that in fact, after a certain service life of the plant protection UAV, there will be a certain performance degradation, which will lead to a decrease in the pesticide application accuracy. Through this method, the pesticide application accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp can be predicted, so as to obtain the actual pesticide application accuracy of each plant protection UAV in the warehouse.

[0081] As Figure 2 shown, further, in the plant protection UAV cluster control method based on communication perception analysis, work task allocation is performed according to the number of working plant protection UAVs and the pesticide application accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp. Specifically:

[0082] S202: Randomly select plant protection UAVs for work according to the number of working plant protection UAVs and the pesticide application accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp, and obtain the plant protection UAV work task allocation data set;

[0083] S204: Determine whether there is a plant protection UAV in the plant protection UAV work task allocation data set whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold;

[0084] S206: When there is a plant protection UAV in the plant protection UAV work task allocation data set whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold, update the plant protection UAVs for work in the plant protection UAV work task allocation data set until there is no plant protection UAV whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold;

[0085] S208: When there is no plant protection UAV in the plant protection UAV work task allocation data set whose pesticide application accuracy characteristic data is lower than the threshold of the preset pesticide application accuracy characteristic data, output the plant protection UAV work task allocation data set, and perform work task allocation according to the plant protection UAV work task allocation data set.

[0086] It should be noted that through this method, the accuracy of pesticide application can be further improved, the phenomena of mis-spraying and over-spraying can be further avoided, and the waste of pesticide application by plant protection UAVs can be avoided.

[0087] Further, in the plant protection UAV cluster control method based on communication perception analysis, the spraying work area of the plant protection UAV is dynamically adjusted, specifically including:

[0088] Obtain the real-time communication characteristic data information of the plant protection UAVs in the spraying work area, and judge whether the real-time communication characteristic data information of the plant protection UAVs in the spraying work area is lower than the communication characteristic data evaluation index;

[0089] When the real-time communication characteristic data information of the plant protection UAVs in the spraying work area is lower than the communication characteristic data evaluation index, re-plan the spraying work area of the plant protection UAVs;

[0090] When the real-time communication characteristic data information of the plant protection UAVs in the spraying work area is not lower than the communication characteristic data evaluation index, keep the spraying work area of the plant protection UAVs unchanged.

[0091] It should be noted that through this method, the rationality of the plant protection UAV during the pesticide application process can be improved.

[0092] In addition, this method also includes:

[0093] Obtain the communication characteristic data of each plant protection UAV within a preset time, and introduce a dynamic Bayesian network, and input the communication characteristic data of each plant protection UAV within the preset time into the Bayesian network;

[0094] Take the communication characteristic data of the plant protection UAV at each timestamp in the communication characteristic data of each plant protection UAV within the preset time as an observation vector, and calculate the probability value of each observation vector transferring to another observation vector through the dynamic Bayesian network;

[0095] Set a probability threshold, update the observation vector with a probability value greater than the probability threshold to another observation vector, and keep the observation vector with a probability value not greater than the probability threshold unchanged;

[0096] Update the communication characteristic data of each plant protection UAV within the preset time based on the updated observation vector, and optimize the control of the plant protection UAV based on the updated communication characteristic data of each plant protection UAV within the preset time.

[0097] It should be noted that the observation vectors with probability values greater than the probability threshold are updated to other observation vectors, and the observation vectors with probability values not greater than the probability threshold remain unchanged. In this way, the communication characteristic data of each plant protection UAV within the preset time can be updated in a timely manner, so as to optimize the cluster control of the plant protection UAVs and avoid the occurrence of uncontrollable plane crashes.

[0098] As Figure 3 shown, the second aspect of the present invention provides a cluster control system 4 for plant protection UAVs based on communication perception analysis, including a memory 41 and a processor 42. The memory 41 includes a program for the cluster control method of plant protection UAVs based on communication perception analysis. When the program for the cluster control method of plant protection UAVs based on communication perception analysis is executed by the processor 42, the steps of the cluster control method of plant protection UAVs based on communication perception analysis in any one of the above are implemented.

[0099] The third aspect of the present invention provides a computer-readable storage medium, including a program for the cluster control method of plant protection UAVs based on communication perception analysis. When the program for the cluster control method of plant protection UAVs based on communication perception analysis is executed by a processor, the steps of the cluster control method of plant protection UAVs based on communication perception analysis in any one of the above are implemented.

[0100] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0101] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, in each embodiment of the present invention, the various functional units can all be integrated in one processing unit, or each unit can be separately used as one unit, or two or more units can be integrated in one unit; the above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0103] Those of ordinary skill in the art will understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The aforementioned storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0104] Alternatively, if the above integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

[0105] The above are only the specific implementation manners of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A plant protection UAV cluster control method based on communication perception analysis, characterized in that: The following steps are involved: Construct a communication data collection platform, and collect real-time communication characteristic data information of the current plant protection UAV in each spraying area through the communication data collection platform; By performing communication characteristic analysis on the real-time communication characteristic data information of the current plant protection UAV in each spraying area, the spraying area with abnormal control is obtained; According to the pesticide application area with abnormal control, a normally controlled pesticide application area is obtained, and pesticide application area information of the pesticide application area is obtained, and the working number of the plant protection drone is configured based on the pesticide application area information of the pesticide application area; The spraying tasks are allocated to the normally controlled pesticide application area according to the working number of the plant protection UAV, and the spraying working area of ​​the plant protection UAV is dynamically adjusted.

2. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: Build a communication data collection platform, including: Construct a communication data collection platform, set up communication equipment in each spraying area, communicate with the communication data collection platform through the communication equipment, take the communication equipment as a reference position, and set the sensing range of a single number of communication equipment in each spraying area; Obtaining estimated pesticide application area information for each pesticide application area, and initializing the number and installation location of communication devices according to the estimated pesticide application area information for each pesticide application area; Calculate the estimated sensing range of the communication device according to the sensing range of a single number of communication devices in each pesticide application area, the number of communication devices installed, and the installation location, and determine whether the estimated sensing range of the communication device is greater than the estimated pesticide application area information of the pesticide application area; When the estimated sensing range of the communication device is not larger than the estimated application area information of the application area, the installation quantity and installation position of the communication device in the corresponding application area are replanned until the estimated sensing range of the communication device is larger than the estimated application area information of the application area.

3. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: By analyzing the communication characteristics of the real-time communication characteristic data information of the current plant protection UAV in each spraying area, the spraying area with abnormal control is obtained, specifically including: Setting a communication characteristic data evaluation index, and determining whether the real-time communication characteristic data information of the current plant protection UAV in each spraying area is greater than the communication characteristic data evaluation index; When the real-time communication characteristic data information is greater than the communication characteristic data evaluation index, the pesticide application area where the real-time communication characteristic data information is greater than the communication characteristic data evaluation index is regarded as a pesticide application area with abnormal control.

4. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: The method of obtaining the normally controlled pesticide application area according to the abnormally controlled pesticide application area specifically includes: Obtaining pesticide application area information in each pesticide application area and pesticide application area information in the pesticide application area with abnormal control; The normally controlled pesticide application area is calculated based on the pesticide application area information in each pesticide application area and the pesticide application area information of the abnormally controlled pesticide application area, and is displayed in a preset manner.

5. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: The pesticide application area information of the pesticide application area is obtained, and the working quantity of the plant protection drone is configured based on the pesticide application area information of the pesticide application area, specifically: Acquire pesticide application area information, work task information, and estimated spraying area information of a single number of plant protection drones under the work task information of the pesticide application area, and initialize the work quantity information of the plant protection drones according to the work task information and the estimated spraying area information of the single number of plant protection drones under the work task information; Calculate the total estimated spraying area information under the working number information of the currently initialized plant protection drones according to the working number information of the initialized plant protection drones and the estimated spraying area information of a single number of plant protection drones under the work task information; When the total estimated spraying area information under the working quantity information of the currently initialized plant protection drone is not less than the spraying area information of the spraying area, outputting the working quantity of the plant protection drone; When the total estimated spraying area information under the working quantity information of the currently initialized plant protection drone is less than the spraying area information of the spraying area, the working quantity of the plant protection drone is evenly increased until it is no less than the spraying area information of the spraying area.

6. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: The spraying task is allocated to the normally controlled spraying area according to the working number of the plant protection drone, specifically including: Acquire the variation characteristic data of the pesticide application accuracy of the plant protection UAV when performing the pesticide application task, and build a pesticide application accuracy prediction model based on a deep neural network, and input the variation characteristic data of the pesticide application accuracy of the plant protection UAV when performing the pesticide application task into the pesticide application accuracy prediction model for training; When the prediction accuracy of the pesticide application accuracy prediction model is greater than a preset prediction accuracy threshold through training, the model parameters of the pesticide application accuracy prediction model are saved, and the pesticide application accuracy prediction model is output; Acquire the characteristic data of the change of the pesticide application accuracy of each plant protection UAV in the warehouse within a preset time, and input the characteristic data of the change of the pesticide application accuracy of each plant protection UAV in the warehouse within the preset time into the pesticide application accuracy prediction model for prediction; Through prediction, the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp is obtained, and work tasks are allocated according to the working quantity of the plant protection UAV and the spraying accuracy characteristic data of each plant protection UAV in the warehouse at the current timestamp.

7. The plant protection UAV cluster control method based on communication perception analysis according to claim 6 is characterized in that: Work tasks are allocated according to the number of work of the plant protection drone and the spraying accuracy characteristic data of each plant protection drone in the storage at the current timestamp, specifically: According to the working number of the plant protection drones and the spraying accuracy characteristic data of each plant protection drone in the storage at the current timestamp, a plant protection drone is randomly selected to work, and a plant protection drone work task allocation data set is obtained; Determine whether there is a plant protection drone whose pesticide application accuracy characteristic data is lower than a preset pesticide application accuracy characteristic data threshold in the plant protection drone work task allocation data set; When there is a plant protection drone whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold in the plant protection drone work task allocation data set, the plant protection drones working in the plant protection drone work task allocation data set are updated until there is no plant protection drone whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold; When there is no plant protection drone whose pesticide application accuracy characteristic data is lower than the preset pesticide application accuracy characteristic data threshold in the plant protection drone work task allocation data set, the plant protection drone work task allocation data set is output, and work tasks are allocated according to the plant protection drone work task allocation data set.

8. The plant protection UAV cluster control method based on communication perception analysis according to claim 1 is characterized in that: Dynamically adjust the spraying area of ​​the plant protection drone, including: Acquire real-time communication characteristic data information of the plant protection UAV in the spraying work area, and determine whether the real-time communication characteristic data information of the plant protection UAV in the spraying work area is lower than the communication characteristic data evaluation index; When the real-time communication characteristic data information of the plant protection UAV in the spraying work area is lower than the communication characteristic data evaluation index, replanning the spraying work area of ​​the plant protection UAV; When the real-time communication characteristic data information of the plant protection UAV in the spraying work area is not lower than the communication characteristic data evaluation index, the spraying work area of ​​the plant protection UAV is maintained unchanged.

9. The plant protection UAV cluster control system based on communication perception analysis is characterized by: It includes a memory and a processor, wherein the memory includes a plant protection drone cluster control method program based on communication perception analysis, and when the plant protection drone cluster control method program based on communication perception analysis is executed by the processor, the steps of the plant protection drone cluster control method based on communication perception analysis as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: It includes a plant protection UAV cluster control method program based on communication perception analysis. When the plant protection UAV cluster control method program based on communication perception analysis is executed by a processor, any step of the plant protection UAV cluster control method based on communication perception analysis is implemented.

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