Spraying system based on unmanned aerial vehicle

Abstract

The invention discloses a spraying system based on an unmanned aerial vehicle, and relates to the technical field of electric power operation. The spraying system based on the unmanned aerial vehicle comprises the unmanned aerial vehicle, an image collector, a spraying device and a system controller, the image collector, the spraying device and the system controller are arranged at the unmanned aerial vehicle, and the image collection direction of the image collector is consistent with the spraying direction of the spraying device; the system controller is used for receiving a flight control instruction from a remote unmanned aerial vehicle operator and adjusting the flight state of the unmanned aerial vehicle based on the flight control instruction; the image collector is used for collecting image information of a to-be-sprayed target and sending the image information to the system controller, so that the system controller sends the image information to the unmanned aerial vehicle operator; the system controller is further used for controlling the spraying device to spray paint in the spraying direction in response to the spraying instruction sent by the unmanned aerial vehicle operator. According to the technical scheme, the spraying efficiency of the power equipment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power operation, in particular to a spraying system based on a UAV. BACKGROUND

[0002] In the operation of the power system, the corrosion prevention and maintenance of power equipment such as power towers are important links to ensure the safety and stability of the power grid. The power towers and other power equipment need to be regularly sprayed for corrosion prevention to improve the durability of the power equipment.

[0003] Currently, the traditional iron tower spraying operation mode generally relies on manual climbing to high altitude to manually spray each part of the power tower, which has significant technical defects. Manual spraying operation requires a lot of physical labor, and construction personnel need to repeatedly climb to different towers for spraying work. Therefore, the manual spraying mode not only has high labor intensity, but also requires a lot of time for tower climbing and faces safety risks such as high-altitude falling and electric shock. Therefore, the current paint spraying operation mode has low spraying efficiency for power equipment. SUMMARY

[0004] Therefore, the present application provides a spraying system based on a UAV, which mainly aims to solve the technical problem of low spraying efficiency of the current paint spraying operation mode for power equipment.

[0005] According to a first aspect of the present application, a spraying system based on a UAV is provided, which comprises a UAV, and an image collector, a spraying device and a system controller arranged at the UAV, wherein the image collection direction of the image collector is consistent with the spraying direction of the spraying device.

[0006] The system controller is configured to receive flight control instructions from a remote UAV operator and adjust the flight state of the UAV based on the flight control instructions.

[0007] The image collector is configured to collect image information of a target to be sprayed and send the image information to the system controller, so that the system controller sends the image information to the UAV operator.

[0008] The system controller is further configured to control the spraying device to spray paint in the spraying direction in response to the spraying instructions sent by the UAV operator.

[0009] In an optional embodiment, the image collector is a low-light image collection device.

[0010] In an optional embodiment, the unmanned aerial vehicle-based spraying system further comprises a magnetic field detector configured to collect magnetic field intensity information at the unmanned aerial vehicle and send the magnetic field intensity information to the system controller; and the system controller is further configured to compare the magnetic field intensity information with a preset magnetic field intensity threshold value, and send a collision warning to the unmanned aerial vehicle operator when the magnetic field intensity information is greater than or equal to the magnetic field intensity threshold value.

[0011] In an optional embodiment, the system controller is configured to perform the following processing: the system controller detects a wireless communication signal strength value between the system controller and the unmanned aerial vehicle operator in real time, and compares the wireless communication signal strength value with a preset strength threshold value; when the wireless communication signal strength value is less than the strength threshold value, the system controller controls the unmanned aerial vehicle to be in a hovering state, and accumulates a duration for which the wireless communication signal strength value is less than the strength threshold value; and when the duration is greater than a preset waiting time threshold value, the system controller controls the unmanned aerial vehicle to fly away from the current position along a return route.

[0012] In an optional embodiment, the return route is determined by determining a flight trajectory of the unmanned aerial vehicle in a historical time length before the current time, and determining the flight trajectory as the return route.

[0013] In an optional embodiment, the system controller controls the spraying device to spray paint in the spraying direction in response to a spraying instruction sent by the unmanned aerial vehicle operator, including: the system controller determines distance information between the unmanned aerial vehicle and the target to be sprayed, and determines atmospheric pressure information and wind speed information at the location of the unmanned aerial vehicle in response to the spraying instruction; inputs the distance information, the atmospheric pressure information, and the wind speed information into a pre-trained spraying pressure output model, so that the spraying pressure output model outputs a spraying pressure value based on the distance information, the atmospheric pressure information, and the wind speed information; and controls the spraying device to spray paint in the spraying direction at a spraying pressure of the spraying pressure value.

[0014] In an optional embodiment, the system controller determines distance information between the unmanned aerial vehicle and the target to be sprayed in the following manner: the system controller acquires the image information, determines a target image of the target to be sprayed in the image information, and determines distance information between the target to be sprayed and the unmanned aerial vehicle based on the image information and the target image.

[0015] In an optional embodiment, the system controller determines the target image of the target to be sprayed in the image information in the following manner: inputting the image information into a pre-trained convolutional neural network model to determine the target image of the target to be sprayed in the image information by the convolutional neural network model.

[0016] In an optional embodiment, the system controller further receives the focusing distance information and the lens aperture information sent by the unmanned aerial vehicle operator, and adjusts the focusing distance and the aperture value of the lens of the image collector based on the focusing distance information and the lens aperture information.

[0017] In an optional embodiment, the system controller determines the distance information between the unmanned aerial vehicle and the target to be sprayed in the following manner: obtaining the current focusing distance of the image collector, and determining the focusing distance as the distance information.

[0018] The unmanned aerial vehicle-based spraying system provided by the present application enables an operator to control the flight state of an unmanned aerial vehicle through an unmanned aerial vehicle operator, which can control the unmanned aerial vehicle to fly to a bolt of a power tower or other target to be sprayed. Further, an image collector on the system can collect image information of the environment where the unmanned aerial vehicle is located in real time and send the image information to the unmanned aerial vehicle operator, so that the operator can determine the flight direction of the unmanned aerial vehicle and the environmental information thereof through the image information. Meanwhile, when the operator finds the target to be sprayed in the image information, the operator can control the unmanned aerial vehicle to approach the target to be sprayed, and when the image collection direction of the image collector is directed towards the target to be sprayed, the operator can control a spraying device whose spraying direction is consistent with the image collection direction of the image collector to spray paint to the target to be sprayed, so as to complete the spraying work on the power equipment such as the power tower. The technical solution provided by the present application enables an operator to perform spraying work on high power towers and other power equipment through an unmanned aerial vehicle, avoids the process of manually spraying and climbing the tower, and can quickly go to different power towers for spraying, thereby significantly improving the spraying efficiency of the power equipment.

[0019] The above description is only a summary of the technical solutions of the present application. In order to enable a clearer understanding of the technical means of the present application, the technical solutions can be implemented in accordance with the contents of the description, and in order to enable the above and other purposes, features and advantages of the present application to be more apparent and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 Fig. 1 shows a structural schematic diagram of a spraying system based on a UAV according to an embodiment of the present application;

[0022] Figure 2 Fig. 4 shows a flowchart of a scheme for determining a spraying pressure value by a system controller according to an embodiment of the present application;

[0023] Figure 3 Fig. 5 shows a flowchart of a scheme for signal quality monitoring by a system controller according to an embodiment of the present application;

[0024] Figure 4 Fig. 6 shows a schematic diagram of a focusing distance of a lens according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] Hereinafter, the present application will be described in detail with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0026] Currently, the traditional iron tower spraying operation mode generally relies on manual climbing to high altitude for manual spraying, which has significant technical defects. Among them, manual spraying operation needs to consume a lot of physical labor, and the construction personnel need to repeatedly climb to work to different iron towers for spraying work. Therefore, the manual spraying mode not only has high labor intensity, but also needs to spend a lot of time for iron tower climbing, and faces the safety risks of high-altitude falling and electric shock. Therefore, the current paint spraying operation mode has low spraying efficiency for power equipment.

[0027] To solve the above problems, in one embodiment, as shown in Figure 1 Fig. 1, a spraying system based on a UAV is provided, which is taken as an example for spraying power equipment, including a UAV 100, and an image collector 200, a spraying device 300 and a system controller 400 arranged at the UAV 100. The system controller 400 can be a single-chip computer or other computer equipment, which is arranged inside the shell of the UAV 100. The UAV 100 can be a rotor UAV. The image collector 200 can be a low-light image collector, a camera or other camera equipment. The spraying device 300 can be a spray gun, and the paint spraying pressure of the spraying device 300 can be adjusted. Further, the image collection direction of the image collector 200 is consistent with the spraying direction of the spraying device 300. The lens of the image collector 200 is arranged adjacent to the spray gun of the spraying device 300, and the orientation of the lens of the image collector 200 is consistent with the orientation of the spray gun of the spraying device 300. Here, the image collection direction of the image collector 200 can be parallel to the plane where the rotor of the UAV 100 is located.

[0028] Further, the system controller 400 is configured to receive flight control instructions from a remote UAV operator (not shown in the figure) and adjust the flight state of the UAV 100 based on the flight control instructions. Here, the UAV operator can be a remote controller of the UAV 100, which is provided with a joystick, adjustment buttons and a display. The system controller 400 can be connected with a wireless communication module to establish a wireless communication connection with the UAV operator. The operator can operate the joystick and the adjustment buttons of the UAV operator to send flight control instructions such as climbing, descending, rotating and advancing to the system controller 400 of the UAV to adjust the flight state of the UAV 100 based on the flight control instructions.

[0029] Further, the image collector 200 is configured to collect image information of a target to be sprayed and send the image information to the system controller 400, so that the system controller 400 sends the image information to the UAV operator. Here, the target to be sprayed can be a bolt, angle iron or other parts of a power tower. Here, the image collector 200 can send the collected image to the system controller 400 in real time, and then the system controller 400 sends the image to the UAV operator and displays the image on the display of the UAV operator, so that the operator can know the environment of the UAV and control the UAV based on it.

[0030] Further, the operator can control the orientation of the UAV 100 to align the image collection range of the image collector 200 on the UAV 100 with the target to be sprayed, so that the image collector 200 can collect image information of the target to be sprayed. Here, the image information can be a photo or a video. Further, the system controller 400 can send the image information to the UAV operator to display the image information on the display of the UAV operator, so that the operator can know the position of the target to be sprayed.

[0031] Further, the system controller 400 is also configured to control the spraying device 300 to spray paint in the spraying direction in response to the spraying instruction sent by the UAV operator. Specifically, the operator can control the flight state of the UAV 100 to align the lens of the image collector 200 with the target to be sprayed, and send a spraying instruction to the system controller 400 to control the spraying device 300 to spray paint in the spraying direction. Here, because the image collection direction of the image collector 200 is consistent with the spraying direction of the spraying device 300, when the lens of the image collector 200 is aligned with the target to be sprayed, the spraying device 300 will spray paint in the direction of the target to be sprayed to complete the spraying work of the target to be sprayed.

[0032] In addition, the lens of the image collector 200 and the spray gun of the spraying device 300 can also move, and the operator can send a lens rotation instruction to the system controller 400 through the unmanned aerial vehicle operator, so that the system controller 400 can control the lens of the image collector 200 to rotate to adjust the image collection direction. At the same time, the lens of the image collector 200 and the spray gun of the spraying device 300 are arranged in parallel, and when the lens of the image collector 200 rotates, the lens and the spray gun rotate together.

[0033] The unmanned aerial vehicle-based spraying system provided by the embodiment can enable the operator to perform spraying work on high power towers and other power equipment through the unmanned aerial vehicle, avoid the process of manually spraying and climbing the tower, and quickly go to different power towers for spraying, thereby significantly improving the spraying efficiency of the power equipment.

[0034] In an optional embodiment, as shown in Figure 2 The system controller controls the spraying device to spray paint in the spraying direction in response to the spraying instruction sent by the upper computer, and the method comprises the following steps:

[0035] 201. The system controller determines the distance information between the unmanned aerial vehicle and the target to be sprayed, and determines the atmospheric pressure information and the wind speed information at the position of the unmanned aerial vehicle in response to the spraying instruction.

[0036] Here, the unmanned aerial vehicle can be provided with an ultrasonic range finder, and the ultrasonic emission direction of the ultrasonic range finder is consistent with the image collection direction of the image collector. When the operator controls the orientation of the unmanned aerial vehicle to make the image collection direction of the image collector point to the target to be sprayed, and sends a spraying instruction to the system controller, the ultrasonic range finder detects the distance along the image collection direction to determine the distance between the ultrasonic range finder and the target to be sprayed, and determines the distance between the unmanned aerial vehicle and the target to be sprayed. Further, the system controller obtains the atmospheric pressure information and the wind speed information from the air pressure sensor and the wind speed sensor provided on the unmanned aerial vehicle when receiving the spraying instruction. Here, the ultrasonic range finder can be close to the spraying device and the image collector, so as to realize that the distance between the ultrasonic range finder and the target to be sprayed represents the distance between the spraying device and the target to be sprayed, and the distance is determined as the distance information between the unmanned aerial vehicle and the target to be sprayed.

[0037] 202. The distance information, the atmospheric pressure information and the wind speed information are input into a pre-trained spraying pressure output model, so that the spraying pressure output model outputs a spraying pressure value based on the distance information, the atmospheric pressure information and the wind speed information.

[0038] The spraying pressure output model can be a neural network model. When the neural network model is trained, a plurality of training samples can be obtained, each training sample including sample distance information, sample atmospheric pressure information and sample wind speed information, and each training sample also corresponding to a spraying pressure value label recording a spraying pressure value. Here, the sample distance information, the sample atmospheric pressure information and the sample wind speed information in the training sample can be the atmospheric pressure and the wind speed of the test environment when the spraying test is performed, and the sample distance information can be the distance between the spray gun and the device to be sprayed during the test. The spraying pressure value label corresponding to the training sample can be the spraying pressure value used by the spray gun to uniformly spray the paint on the device to be sprayed during the test.

[0039] Further, the neural network model is trained by a plurality of training samples and the spraying pressure value label corresponding to each training sample to obtain a spraying pressure output model, so that the spraying pressure output model can output a suitable spraying pressure value according to the input distance information, atmospheric pressure information and wind speed information.

[0040] 203, control the spraying device to spray paint at the spraying pressure of the spraying pressure value in the spraying direction. Here, the spraying pressure of the spray gun can be set to the spraying pressure value, and the target to be sprayed in the spraying direction can be sprayed.

[0041] The technical scheme provided in the application can determine the spraying pressure required for spraying based on the air pressure, wind speed at the position of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the target to be sprayed based on the neural network model, and can adjust the spraying pressure of the paint spraying according to the actual environment to make the spraying more uniform.

[0042] In an optional embodiment, the unmanned aerial vehicle-based spraying system further comprises a magnetic field detector for collecting magnetic field intensity information at the unmanned aerial vehicle and sending the magnetic field intensity information to the system controller. Here, when the unmanned aerial vehicle sprays the components of the power tower, the alternating current in the distribution line or the transmission line of the power tower will generate a magnetic field around the distribution line or the transmission line. The strength of the magnetic field is shown in formula 1:

[0043]

[0044] Wherein, B(d) is the strength of the magnetic field, μ0 is the vacuum permeability, I is the instantaneous current in the distribution line or the transmission line, and d is the distance from the distribution line or the transmission line. It can be seen that when the instantaneous current is consistent, the shorter the distance between the unmanned aerial vehicle and the distribution line or the transmission line, the stronger the magnetic field intensity at the unmanned aerial vehicle.

[0045] Further, the system controller is further configured to compare the magnetic field strength information with a preset magnetic field strength threshold value, and send a contact electric warning information to the UAV operator when the magnetic field strength information is greater than or equal to the magnetic field strength threshold value. The value of the magnetic field strength threshold value can be obtained according to actual tests or experiments. Here, because the current in the power transmission line or the power distribution line is preset by the power system, the magnetic field strength at a specific safe distance from the power transmission line or the power distribution line can also be calculated, and therefore the magnetic field strength value at the specific safe distance from the power transmission line or the power distribution line can be determined as the magnetic field strength threshold value. When the distance between the UAV and the power transmission line or the power distribution line is less than the specific safe distance, the UAV is too close to the power transmission line or the power distribution line, and the magnetic field strength at the UAV exceeds the magnetic field strength threshold value. At this time, the system controller sends a contact electric warning information to the UAV operator, and the UAV operator sends an alarm through the sound and light alarm device on the UAV to prompt the operator that the UAV is too close to the power transmission line or the power distribution line and needs to be driven away in time.

[0046] The technical scheme provided in the present application can determine whether the UAV is too close to the power transmission line or the power distribution line by comparing the magnetic field strength, and timely send an alarm to the operator when the UAV is too close to the power transmission line or the power distribution line, so as to remind the operator to drive the UAV away, thereby improving the safety of the spraying operation.

[0047] In an optional embodiment, as shown in Figure 3 The system controller is configured to perform the following processing:

[0048] 301. The system controller detects a wireless communication signal strength value between the system controller and the UAV operator in real time, and compares the wireless communication signal strength value with a preset strength threshold value.

[0049] Here, the strength threshold value can be the signal strength value of the wireless communication signal required to support normal wireless communication between the system controller and the UAV operator. The strength threshold value can be -70 decibel milliwatts, and the specific value can also be determined according to actual conditions.

[0050] Specifically, the system controller can determine the received signal strength indication (RSSI) of the signal for wireless communication between the wireless communication module connected thereto and the UAV operator, determine the received signal strength indication as the wireless communication signal strength value, and compare it with the strength threshold value.

[0051] 302. When the wireless communication signal strength value is less than the strength threshold value, the UAV is controlled to be in a hovering state, and the duration that the wireless communication signal strength value is less than the strength threshold value is cumulatively calculated.

[0052] Specifically, when the wireless communication signal strength value is less than the strength threshold value, the unmanned aerial vehicle is controlled to be stationary in the space, and the wireless communication signal strength value between the system controller and the unmanned aerial vehicle operator is collected in real time, and the wireless communication signal strength value is compared with the strength threshold value in real time to accumulate the duration that the wireless communication signal strength value is less than the strength threshold value.

[0053] 303、When the duration is greater than a preset waiting time threshold value, the unmanned aerial vehicle is controlled to fly away from the current position along a return route.

[0054] The waiting time threshold value can be used as a criterion for determining whether the unmanned aerial vehicle is disconnected from the unmanned aerial vehicle operator, and the length of time of the waiting time threshold value can be determined according to actual conditions. Here, when the duration is greater than the waiting time threshold value, it can be determined that the unmanned aerial vehicle is disconnected from the unmanned aerial vehicle operator, and the unmanned aerial vehicle is controlled to fly away from the current position along a return route.

[0055] Here, the return route is determined by the system controller determining the flight trajectory of the unmanned aerial vehicle in a historical time length before the current time, and the flight trajectory is determined as the return route. The length of time of the historical time length can be determined according to actual conditions. Specifically, when the unmanned aerial vehicle is flying, the system controller can record the flight trajectory of the unmanned aerial vehicle in real time, which can obtain three-dimensional coordinate information of the unmanned aerial vehicle in real time through a positioning device, and determine the flight trajectory of the unmanned aerial vehicle based on the three-dimensional coordinate information. When the unmanned aerial vehicle needs to fly away from the current position along the return route, a set of three-dimensional coordinate information of the unmanned aerial vehicle in the historical time length can be obtained as the return route, and the unmanned aerial vehicle can fly away from the current position along each three-dimensional coordinate position in the return route.

[0056] The technical solution of the present application can determine whether the unmanned aerial vehicle is disconnected from the external controller according to the wireless communication signal strength value between the system controller and the unmanned aerial vehicle operator, and automatically make the unmanned aerial vehicle fly away along a safe route when disconnected from the external controller, thereby improving the safety of the spraying work.

[0057] In an optional embodiment, the system controller is further configured to receive focus distance information and lens aperture information sent by the unmanned aerial vehicle operator, and adjust the focus distance and aperture value of the lens of the image collector based on the focus distance information and the lens aperture information.

[0058] Here, the lens aperture information can be the aperture value of the lens of the image collector. When the aperture value of the lens of the image collector is large, the image collector can obtain a larger amount of light to adapt to shooting in a low-light environment. Further, as Figure 4As shown, the focus distance information can be the focus distance L of the lens Len, which refers to the distance between the optical center of the lens Len and the object plane, directly affects the imaging clarity and depth of field, and when the focus distance L of the lens Len is equal to the distance between the target 500 to be sprayed and the lens Len, the image collected by the image collector is the clearest.

[0059] Further, when the operator needs to focus the lens of the image collector, the focus distance information can be sent to the system controller, and the system controller sets the focus distance of the lens based on the focus distance information. The operator can adjust the focus distance of the lens based on the clarity of the image collected by the image collector, so that the focus distance of the lens is equal to the distance between the lens and the target to be sprayed, so as to obtain the maximum clarity. The embodiments provided in the present application enable the operator to adjust the lens parameters of the image collector to obtain the clearest image, thereby improving the operability of the unmanned aerial vehicle spraying system.

[0060] In an optional embodiment, the system controller determines the distance information between the unmanned aerial vehicle and the target to be sprayed in the following manner:

[0061] Firstly, the system controller obtains the image information, and determines the target image of the target to be sprayed in the image information.

[0062] Specifically, the system controller can input the image information into a pre-trained convolutional neural network model to determine the target image of the target to be sprayed in the image information through the convolutional neural network model.

[0063] Here, the convolutional neural network model can be trained by a large number of pictures of targets to be sprayed such as bolts and angle irons, so that the convolutional neural network model can receive image information and identify the target image of the target to be sprayed in the image information.

[0064] Then, based on the image information and the target image, the distance information between the target to be sprayed and the unmanned aerial vehicle is determined. Here, a monocular distance measurement algorithm can be used to determine the distance between the target to be sprayed and the image collector based on the position and range relationship of the target image in the image information, and the distance is determined as the distance information between the target to be sprayed and the unmanned aerial vehicle.

[0065] The technical scheme provided in the present application can determine the distance between the target to be sprayed and the image collector based on the image recognition algorithm and the monocular distance measurement algorithm. Here, because the image collector is arranged at the unmanned aerial vehicle, the distance between the target to be sprayed and the image collector can be approximately equal to the distance between the target to be sprayed and the unmanned aerial vehicle, so as to realize the distance calculation between the target to be sprayed and the unmanned aerial vehicle.

[0066] In an optional embodiment, the manner in which the system controller determines the distance information between the UAV and the target to be sprayed also includes: obtaining a focusing distance of the current image collector, and determining the focusing distance as the distance information. Specifically, upon receiving the spraying instruction, the system controller determines the focusing distance of the lens of the current image collector, and determines the focusing distance as the distance information, so as to input the distance information into the spraying pressure output model for subsequent processing.

[0067] Here, the operator can send a spraying instruction to the system controller through the UAV operator when the target to be sprayed is clearest in the image information, at which time the focusing distance can be approximately equal to the distance between the UAV and the target to be sprayed. Here, the system controller can also be configured such that, only when the lens aperture value of the lens is greater than a preset aperture value, the system controller determines the focusing distance as the distance information when the operator sends a spraying instruction to the system controller through the UAV operator. The technical solution provided in the present application can directly determine the focusing distance of the lens as the distance between the target to be sprayed and the UAV when the operator issues a spraying instruction, thereby improving the efficiency of determining the distance between the target to be sprayed and the UAV.

[0068] The spraying system based on the UAV provided in the present application can enable the operator to perform spraying work on high power towers and other power equipment through the UAV, and can determine appropriate spraying pressure based on the current environment and the distance between the target to be sprayed and the UAV, thereby improving the uniformity of spraying. At the same time, the UAV can also have the functions of wire collision warning and wireless connection monitoring, thereby improving the safety and efficiency of the spraying work of the UAV.

[0069] The above application number is only for description, and does not represent the advantages and disadvantages of the implementation scenario. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the present application.

Claims

1. A spraying system based on drone, characterized in that: The drone-based spraying system includes a drone, an image collector, a spraying device, and a system controller provided at the drone, wherein the image acquisition direction of the image collector is consistent with the spraying direction of the spraying device; The system controller is used to receive flight control instructions from a remote UAV operator and adjust the flight state of the UAV based on the flight control instructions; The image collector is used to collect image information of the target to be sprayed, and send the image information to the system controller, so that the system controller sends the image information to the UAV operator; The system controller is further configured to control the spraying device to spray paint in the spraying direction in response to a spraying instruction sent by the drone operator.

2. The drone-based spraying system according to claim 1, characterized in that: The image collector is a low-light-level image collection device.

3. The drone-based spraying system according to claim 1, characterized in that: The drone-based spraying system further includes a magnetic field detector, which is used to collect magnetic field intensity information at the drone and send the magnetic field intensity information to the system controller; The system controller is further configured to compare the magnetic field strength information with a preset magnetic field strength threshold, and to send a collision warning message to the drone operator when the magnetic field strength information is greater than or equal to the magnetic field strength threshold.

4. The drone-based spraying system according to claim 1, characterized in that: The system controller is configured to perform the following processing: The system controller detects the wireless communication signal strength value between the system controller and the drone operator in real time, and compares the wireless communication signal strength value with a preset strength threshold; When the wireless communication signal strength value is less than the strength threshold, controlling the drone to be in a hovering state, and accumulating a duration during which the wireless communication signal strength value is less than the strength threshold; When the duration is greater than a preset waiting time threshold, the UAV is controlled to fly away from the current position along a return route.

5. The drone-based spraying system according to claim 4, characterized in that: The return route is determined as follows: Determine the flight trajectory of the UAV in a historical time length before the current moment, and determine the flight trajectory as the return route.

6. The drone-based spraying system according to claim 1, characterized in that: The system controller controls the spraying device to spray paint in the spraying direction in response to the spraying instruction sent by the drone operator, including: The system controller determines the distance between the drone and the target to be sprayed, and determines the atmospheric pressure and wind speed at the location of the drone in response to the spraying instruction; Inputting the distance information, the atmospheric pressure information, and the wind speed information into a pre-trained spraying pressure output model, so that the spraying pressure output model outputs a spraying pressure value based on the distance information, the atmospheric pressure information, and the wind speed information; The spraying device is controlled to spray paint in the spraying direction at a spraying pressure of the spraying pressure value.

7. The drone-based spraying system according to claim 6, characterized in that: The system controller determines the distance information between the drone and the target to be sprayed, including: The system controller acquires the image information and determines a target image of the target to be sprayed in the image information; Based on the image information and the target image, distance information between the target to be sprayed and the drone is determined.

8. The drone-based spraying system according to claim 6, characterized in that: The system controller determines the target image of the target to be sprayed from the image information in a manner including: The image information is input into a pre-trained convolutional neural network model to determine a target image of the target to be sprayed in the image information through the convolutional neural network model.

9. The drone-based spraying system according to claim 6, characterized in that: The system controller is further configured to receive focus distance information and lens aperture information sent by the drone operator, and adjust the focus distance and aperture value of the lens of the image collector based on the focus distance information and the lens aperture information.

10. The drone-based spraying system according to claim 9, characterized in that: The system controller determines the distance information between the drone and the target to be sprayed, including: The current focus distance of the image collector is acquired, and the focus distance is determined as the distance information.

Images