Unmanned aerial vehicle spraying control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and relates to an unmanned aerial vehicle spraying control method and device, electronic equipment and a storage medium. In the application, the corresponding relation between the height from the unmanned aerial vehicle to the crops and the spraying effect width is set in the unmanned aerial vehicle in advance, and when the unmanned aerial vehicle is debugged before spraying, the current first height from the unmanned aerial vehicle to the first crop and the current first distance between the second crop and the third crop are obtained; then determining a first effective spraying width corresponding to the first height according to the first height and a preset corresponding relation, and if the first effective spraying width is equal to the first distance, or the first effective spraying width is smaller than the first distance, and the difference value between the first effective spraying width and the first distance is small, determining that the first effective spraying width is smaller than the first distance; if yes, controlling the unmanned aerial vehicle to perform spraying operation based on the current first height. In this way, the unmanned aerial vehicle can be controlled to implement precise spraying on low crops, and the spraying precision of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and more specifically, to a drone spraying control method, device, electronic device, and storage medium. Background Art

[0002] With the development of drone technology, traditional agricultural spraying methods are undergoing a major transformation. The application of drone technology is making agricultural spraying more intelligent, efficient, and environmentally friendly. The use of drone spraying in agricultural production can significantly improve production efficiency. The highly automated operation of drones allows for precise spraying, avoiding duplication and wasted resources. Drone spraying also improves safety. Traditional agricultural spraying methods require operators to come into contact with chemical pesticides, posing certain safety risks. The advent of drones frees operators from heavy physical labor, improving both efficiency and safety.

[0003] However, existing drone spraying technology is only suitable for simpler planting methods. For complex intercropping of different crops (such as soybean and corn strip planting), when using drones to spray pesticides or fertilizers on shorter crops (such as soybeans), there is a risk of spraying pesticides or fertilizers onto taller crops (such as corn), resulting in poor spraying accuracy. Furthermore, in some specific scenarios, such as spraying soybeans with growth control chemicals, it is undesirable to spray corn, as the corn may absorb the soybean growth control chemicals and reduce yields. Therefore, improving drone spraying accuracy in complex planting methods is an urgent problem. Summary of the Invention

[0004] The present application provides a drone spraying control method, device, electronic device and storage medium, the purpose of which is to improve the drone spraying accuracy of crops in complex planting methods.

[0005] The first aspect of the present application provides a method for controlling spraying by a drone, the method comprising: Obtaining a first height between the drone and a first crop, and a first distance between a second crop and a third crop; the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both taller than the first crop; Determining a first effective spraying width corresponding to the first height based on the first height and a preset correspondence relationship; the preset correspondence relationship refers to a correspondence between the height of the drone from the crop and the spraying width; When the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference, the drone is controlled to perform spraying operations based on the first height.

[0006] Optionally, the method further includes: When the first effective spraying width is greater than the first distance, the drone is controlled to descend a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and the process returns to the step of obtaining the first height and the first distance.

[0007] Optionally, the method further includes: When a first height of the drone currently located above the first crop is lower than a preset safety height and a current first effective spraying width is greater than the first distance, the atomization level of the drone is reduced, or a notification to reduce the atomization level is issued.

[0008] Optionally, the method further includes: When the first effective spraying width is smaller than the first distance and the difference between the first effective spraying width and the first distance is greater than a preset difference, the drone is controlled to rise to a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and the process returns to the step of obtaining the first height and the first distance.

[0009] Optionally, before obtaining the first height and the first distance, the method further includes: The UAV is controlled to fly to a position directly above the central axis of the planting belt of the first crop.

[0010] Optionally, the method further includes: During the spraying operation performed by the UAV at the first height, the UAV is controlled to fly in a direction parallel to the planting belt of the first crop, and the flight position is located directly above the central axis of the planting belt of the first crop.

[0011] Optionally, the first distance refers to the distance between a first height position on the second crop and a second height position on the third crop, the first height position refers to a position on the second crop that is flush with the top of the first crop, and the second height position refers to a position on the third crop that is flush with the top of the first crop.

[0012] A second aspect of the present application provides a drone spraying control device, the device comprising: an acquisition module, configured to acquire a first height between the drone and a first crop, and a first distance between a second crop and a third crop; the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both higher than the first crop; a determination module, configured to determine a first effective spraying width corresponding to the first height based on the first height and a preset correspondence relationship; the preset correspondence relationship being a correspondence between the height of the drone from the crop and the spraying width; A spraying control module is used to control the UAV to perform a spraying operation based on the first height when the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference.

[0013] A third aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor; The memory is used to store application programs; The processor is used to run the application stored in the memory to implement any of the above drone spraying control methods.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an application program, and when the application program is executed by a processor, is used to implement any of the above-described drone spraying control methods.

[0015] The drone spraying control method provided in this application is used to pre-set the correspondence between the drone's height from the crops and the spraying width in the drone. When debugging the drone before spraying, the first height of the drone from the first crop and the first distance between the second and third crops are obtained. Then, based on the first height and the preset correspondence, the first effective spraying width corresponding to the first height is determined. If the first effective spraying width is equal to the first distance, or the first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is small, the drone is controlled to perform a spraying operation based on the current first height. In this way, the effective spraying width of the drone can more completely cover low crops without accidentally spraying crops with taller growth heights, thereby improving the spraying accuracy of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a flow chart of a drone spraying control method provided in one embodiment of the present application; Figure 2 This is a schematic diagram of drone spraying provided by an embodiment of the present application; Figure 3 This is a schematic diagram of mixed planting of crops provided by an embodiment of the present application; Figure 4 This is a structural diagram of a drone spraying control device provided in one embodiment of the present application; Figure 5 This is a structural block diagram of an electronic device proposed in one embodiment of the present disclosure.

[0018] In the figure: 410 acquisition module, 420 determination module, 430 spraying control module, 500 electronic device, 710 processor, 720 memory. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] Existing drone spraying technology is only suitable for simpler planting methods. For complex intercropping of different crops (such as soybean and corn strip planting), when using drones to spray pesticides or fertilizers on shorter crops (such as soybeans), there is a risk of spraying pesticides or water and fertilizers onto taller crops (such as corn), resulting in poor spraying accuracy. Furthermore, in some specific scenarios, such as spraying soybeans with growth control chemicals, it is undesirable to spray corn, as the corn may absorb the soybean growth control chemicals and reduce yields. Therefore, improving drone spraying accuracy in complex planting methods is an urgent problem.

[0021] In order to improve the spraying accuracy of UAV for crops in complex planting methods, this application provides a UAV spraying control method through the following embodiments. Figure 1 , Figure 1This is a flow chart of a drone spraying control method provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps.

[0022] S110: Obtaining a first height of the drone from a first crop and a first distance between a second crop and a third crop; wherein the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both higher than the first crop.

[0023] For ease of understanding, illustratively, Figure 2 As shown, taking the first crop as soybean, the second crop and the third crop as corn as an example, the corn planting belt is located on both sides of the soybean planting belt. In step S110, it is necessary to obtain a first height h1 between the drone and the soybean, and a first distance d1 between the corns.

[0024] In some specific embodiments, a drone is equipped with a 3D camera with a vertical downward shooting angle. The 3D camera collects point cloud data of crops below the drone through the 3D camera, and the first height h1 and the first distance d1 are obtained by processing the point cloud data. Specifically, the 3D camera on the drone collects point cloud data of the crops, and the point cloud data contains a large number of points, each of which has a coordinate position in a point cloud coordinate system; from the point cloud data, the following are identified: points corresponding to the first crop, a first boundary between the first crop and the second crop, and a second boundary between the first crop and the third crop; then, the points corresponding to the first crop are aligned to the drone coordinate system, so that the first height h1 of the drone's current distance from the first crop can be calculated based on the aligned points; and the first boundary and the second boundary are aligned to the drone coordinate system, so that the distance between the aligned first boundary and the second boundary can be calculated based on the aligned first boundary and the second boundary, thereby obtaining the first distance d1.

[0025] It should be noted that in addition to using point cloud technology to calculate the first height h1 and the first distance d1, sensor ranging technology can also be used to calculate the first height h1 and the first distance d1. Alternatively, the first height h1 and the first distance d1 can be calculated by combining sensor ranging technology and point cloud technology. This application does not limit how to calculate the first height h1 and the first distance d1.

[0026] It should also be noted that the second and third crops in this application are affected by the wind force of the drone, such as Figure 2As shown, the wind will be blown away from the first crop, forming an inclination angle. As the drone's altitude changes, the wind force applied to the second and third crops by the drone changes, causing the inclination angle formed by the second and third crops to change accordingly. Therefore, the first distance d1 between the second and third crops will also change accordingly.

[0027] In some embodiments, Figure 2 As shown, the first distance d1 refers to the distance between the first height position on the second crop and the second height position on the third crop, the first height position refers to the position on the second crop that is flush with the top of the first crop, and the second height position refers to the position on the third crop that is flush with the top of the first crop.

[0028] S120: Determine a first effective spraying width corresponding to the first height according to the first height and a preset corresponding relationship; wherein the preset corresponding relationship refers to a corresponding relationship between the height of the UAV from the crops and the spraying width.

[0029] Specifically, after obtaining the first height h1 between the drone and the soybean, the drone can search for the first effective spraying width w1 corresponding to the first height h1 from the preset corresponding relationship according to the first height h1, such as Figure 2 The preset correspondence in this proposal can be pre-generated by controlling the drone to hover at a certain height above the ground and spray pesticides (or water and fertilizers), detecting the coverage width of the ground (i.e., the effective width) of the pesticides (or water and fertilizers) sprayed by the drone, and using the height and effective width as a set of data; then changing the drone's hovering height and repeating the above steps to obtain multiple sets of data; and finally, the multiple sets of data are regarded as the above correspondence.

[0030] S130: When the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference, control the drone to perform spraying operations based on the first height.

[0031] Specifically, if the first effective spraying width is equal to the first distance, the pesticide (or water and fertilizer) sprayed by the drone will fully cover the first crop and will not spray the second and third crops. Therefore, the drone can be controlled to maintain the current first altitude to carry out the spraying operation. If the first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is less than or equal to the preset difference, the pesticide (or water and fertilizer) sprayed by the drone will substantially cover the first crop and will not spray the second and third crops. Therefore, the drone can be controlled to maintain the current first altitude to carry out the spraying operation.

[0032] The drone spraying control method provided in this application is used to pre-set the correspondence between the drone's height from the crops and the spraying width in the drone. When debugging the drone before spraying, the first height of the drone from the first crop and the first distance between the second and third crops are obtained. Then, based on the first height and the preset correspondence, the first effective spraying width corresponding to the first height is determined. If the first effective spraying width is equal to the first distance, or the first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is small, the drone is controlled to perform a spraying operation based on the current first height. In this way, the effective spraying width of the drone can more completely cover low crops without accidentally spraying crops with taller growth heights, thereby improving the spraying accuracy of the drone.

[0033] In some specific embodiments, the drone spraying control method further includes: when the first effective spraying width is greater than the first distance, controlling the drone to descend to a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and returning to the step of obtaining the first height and the first distance.

[0034] In other words, after executing step S120 to determine the first effective spraying width, it is determined whether the determined first effective spraying width is greater than the first distance. If so, the drone is controlled to descend a certain height, and then the process returns to step S110, whereby steps S110 and S120 are executed again until the first effective spraying width is equal to the first distance, or the first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference. When controlling the drone to descend, the drone can be controlled to descend in a certain step size, for example, by 10 cm each time.

[0035] In this application, if the first effective spraying width is greater than the first distance, it means that although the medicine (or water and fertilizer) sprayed by the drone can cover all the first crops, it will also be sprayed on the second and third crops. In order to avoid spraying the medicine (or water and fertilizer) on the second and third crops, it is necessary to lower the altitude of the drone. On the one hand, the second and third crops are tilted more toward the sides due to the stronger blowing effect of the drone, so as to increase the first distance. On the other hand, the first effective spraying width is reduced due to the lowering of the drone altitude.

[0036] In some specific embodiments, the drone spraying control method further includes: when the first height of the drone currently located above the first crop is lower than a preset safety height and the current first effective spraying width is greater than the first distance, reducing the atomization level of the drone, or issuing a notification to reduce the atomization level.

[0037] Specifically, if the drone continues to fail to meet any of the two conditions described in step S130, it is necessary to gradually control the drone to descend. However, the drone cannot descend indefinitely. When the first height h1 of the drone from the first crop is lower than the preset safety height, it is not advisable to continue controlling the drone to descend, or to control the drone to perform spraying operations below the preset safety height. In this proposal, if the current first height h1 of the drone from the first crop is lower than the preset safety height, and the current first effective spraying width w1 is greater than the first distance d1, it means that if the drone cannot continue to descend, its spraying range will still cover the second and third crops. In this case, the drone's nozzle pressure can be controlled to reduce the drone's atomization level, thereby narrowing the first effective spraying width w1. Alternatively, a notification to reduce the atomization level can be issued to prompt the operator to reduce the use of atomizer.

[0038] In some specific embodiments, the drone spraying control method further includes: When the first effective spraying width is smaller than the first distance and the difference between the first effective spraying width and the first distance is greater than a preset difference, the drone is controlled to rise to a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and the process returns to the step of obtaining the first height and the first distance.

[0039] In other words, after executing step S120 to determine the first effective spraying width, it is determined whether the determined first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is greater than a preset difference; if so, the drone is controlled to rise to a certain height, and then returns to step S110, thereby executing steps S110 and S120 again until the first effective spraying width is equal to the first distance, or the first effective spraying width is less than the first distance, and the difference between the first effective spraying width and the first distance is less than or equal to the preset difference. When controlling the drone to rise, the drone can be controlled to rise according to a certain step size, for example, the drone is controlled to rise 10 cm each time.

[0040] In this application, if the first effective spraying width is smaller than the first distance, and the difference between the first effective spraying width and the first distance is greater than the preset difference, it means that the medicine (or water and fertilizer) sprayed by the drone cannot effectively cover all the first crops. In order to make the spraying range of the medicine (or water and fertilizer) effectively cover all the first crops, it is necessary to increase the altitude of the drone to expand the first effective spraying width.

[0041] In some specific embodiments, before obtaining the first height and the first distance, the drone spraying control method further includes: controlling the drone to fly to directly above the central axis of the planting belt of the first crop.

[0042] Specifically, the drone can collect point cloud data of the crops below the drone through a 3D camera, and process the point cloud data to identify the two boundaries of the planting belt of the first crop. Then, based on the positions of the two boundaries, the drone is controlled to fly to the central axis position of the two boundaries. Figure 3 As shown, Figure 3 A planting strip of a first crop and the center axis of the planting strip are shown.

[0043] In addition, in some specific embodiments, the drone spraying control method also includes: during the drone spraying operation based on the first height, controlling the drone to fly in a direction parallel to the planting belt of the first crop, and the flight position is directly above the central axis of the planting belt of the first crop.

[0044] It should be noted that in this proposal, by controlling the drone to fly directly above the central axis of the planting belt of the first crop, and during spraying, controlling the drone to fly in a direction parallel to the planting belt of the first crop, the following situation can be avoided: one side of the first crop is not effectively sprayed, and although the other side of the first crop can be effectively sprayed, the second crop or third crop adjacent to this side will also be sprayed.

[0045] Based on the same inventive concept, this application also provides a drone spraying control device, referring to Figure 4 , Figure 4 This is a schematic diagram of the structure of the drone spraying control device provided in one embodiment of the present application. Figure 4 As shown, the device includes: an acquisition module 410 for acquiring a first height between the drone and a first crop, and a first distance between a second crop and a third crop; the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both higher than the first crop; A determination module 420 is configured to determine a first effective spraying width corresponding to the first height based on the first height and a preset correspondence relationship; the preset correspondence relationship is a correspondence between the height of the drone from the crop and the spraying width; The spraying control module 430 is used to control the drone to perform spraying operations based on the first height when the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference.

[0046] In some embodiments, the device further comprises: The height control module is used to control the drone to descend a certain height when the first effective spraying width is greater than the first distance, so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and return to the step of obtaining the first height and the first distance.

[0047] In some embodiments, the device further comprises: The atomization control module is used to reduce the atomization level of the drone or issue a notification to reduce the atomization level when the first height of the drone from the first crop is lower than a preset safety height and the current first effective spraying width is greater than the first distance.

[0048] In some specific embodiments, the height control module is further used to: when the first effective spraying width is smaller than the first distance and the difference between the first effective spraying width and the first distance is greater than a preset difference, control the drone to rise to a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and return to the step of obtaining the first height and the first distance.

[0049] In some embodiments, the device further comprises: The flight control module is used to control the UAV to fly to the top of the central axis of the planting belt of the first crop before obtaining the first height and the first distance.

[0050] In some specific embodiments, the flight control module is also used to: during the spraying operation of the UAV based on the first height, control the UAV to fly in a direction parallel to the planting belt of the first crop, and the flight position is directly above the central axis of the planting belt of the first crop.

[0051] In some specific embodiments, the first distance refers to the distance between a first height position on the second crop and a second height position on the third crop, the first height position refers to a position on the second crop that is flush with the top of the first crop, and the second height position refers to a position on the third crop that is flush with the top of the first crop.

[0052] See also Figure 5 , Figure 5 is a block diagram of an electronic device according to an embodiment of the present disclosure. The electronic device 500 includes a processor 710, a memory 720, and one or more application programs. The one or more application programs are stored in the memory 720 and configured to be executed by the one or more processors 710. The one or more programs are configured to execute the aforementioned drone spraying control method. Specifically, the electronic device may be a drone or a smart terminal device for controlling the flight of a drone.

[0053] The processor 710 may include one or more processing cores. The processor 710 utilizes various interfaces and circuits to connect various components within the electronic device 500. It executes instructions, programs, code sets, or instruction sets stored in the memory 720, as well as accesses data stored in the memory 720, to perform various functions and process data within the electronic device 500. Optionally, the processor 710 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 710 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 710 and may be implemented separately via a communications chip.

[0054] The memory 720 may include a random access memory (RAM) or a read-only memory (ROM). The memory 720 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the electronic device 500 during use.

[0055] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art may still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the scope of protection of the pending claims of the invention.

Claims

1. A drone spraying control method, characterized in that: The method comprises: Obtaining a first height between the drone and a first crop, and a first distance between a second crop and a third crop; the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both taller than the first crop; Determining a first effective spraying width corresponding to the first height based on the first height and a preset correspondence relationship; the preset correspondence relationship refers to a correspondence between the height of the drone from the crop and the spraying width; When the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference, the drone is controlled to perform spraying operations based on the first height.

2. The method according to claim 1, characterized in that The method further comprises: When the first effective spraying width is greater than the first distance, the drone is controlled to descend a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and the process returns to the step of obtaining the first height and the first distance.

3. The method according to claim 2, characterized in that The method further comprises: When a first height of the drone currently located above the first crop is lower than a preset safety height and a current first effective spraying width is greater than the first distance, the atomization level of the drone is reduced, or a notification to reduce the atomization level is issued.

4. The method according to claim 1, wherein The method further comprises: When the first effective spraying width is smaller than the first distance and the difference between the first effective spraying width and the first distance is greater than a preset difference, the drone is controlled to rise to a certain height so that the first distance between the second crop and the third crop changes due to the change in wind force applied by the drone, and the process returns to the step of obtaining the first height and the first distance.

5. The method according to claim 1, wherein Before obtaining the first height and the first distance, the method further includes: The UAV is controlled to fly to a position directly above the central axis of the planting belt of the first crop.

6. The method according to claim 5, characterized in that The method further comprises: During the spraying operation performed by the UAV at the first height, the UAV is controlled to fly in a direction parallel to the planting belt of the first crop, and the flight position is located directly above the central axis of the planting belt of the first crop.

7. The method according to any one of claims 1 to 5, wherein the first distance refers to the distance between a first height position on the second crop and a second height position on the third crop, the first height position refers to a position on the second crop that is flush with the top of the first crop, and the second height position refers to a position on the third crop that is flush with the top of the first crop.

8. A drone spraying control device, characterized in that: The device comprises: an acquisition module, configured to acquire a first height between the drone and a first crop, and a first distance between a second crop and a third crop; the second crop and the third crop are located on either side of the first crop, respectively, and the second crop and the third crop are both higher than the first crop; a determination module, configured to determine a first effective spraying width corresponding to the first height based on the first height and a preset correspondence relationship; the preset correspondence relationship being a correspondence between the height of the drone from the crop and the spraying width; A spraying control module is used to control the UAV to perform a spraying operation based on the first height when the first effective spraying width is equal to the first distance, or when the first effective spraying width is less than the first distance and the difference between the first effective spraying width and the first distance is less than or equal to a preset difference.

9. An electronic device comprising a memory and a processor; The memory is used to store application programs; The processor is used to run the application stored in the memory to implement the drone spraying control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, wherein an application is stored in the computer-readable storage medium, and when the application is executed by a processor, it is used to implement the drone spraying control method according to any one of claims 1 to 7.

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