Unmanned aerial vehicle accurate deodorization method and system based on odor concentration grading

Abstract

The invention discloses an unmanned aerial vehicle accurate deodorization method and system based on odor concentration grading, and the method specifically comprises the steps: sensing the odor concentration of different regions in real time through an unmanned aerial vehicle, dividing the odor concentration into different pollution grades, and carrying out the multi-point region scanning and data collection through employing a horizontal raster scanning and multi-point vertical detection combination strategy, an interpolation algorithm is introduced to construct a concentration field model, a plurality of flight paths are planned, and the optimal deodorant type and concentration are further intelligently matched and executed, so that precise, efficient and economic targeted treatment of the high-altitude diffused odor is realized. According to the invention, the problem of single operation strategy at present can be effectively solved, and the emergency capability of differentiated response to the pollution degree is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicles and environmental governance, and more particularly, to an unmanned aerial vehicle precision deodorization method and system based on odor concentration grading. BACKGROUND

[0002] In modern environmental governance, effectively controlling odor emitted without organization in open space is a universal problem, which is particularly prominent in the following typical scenarios: First, in modern intensive farms, closed indoor environments and negative pressure ventilation systems are usually used. A large amount of odor containing NH3, H2S, etc. generated in the shed is collected by the fan and discharged to the outside of the field through fixed overhead ventilation ducts or discharge ports, resulting in high-concentration odor near the discharge port and dynamic changes in wind direction and wind speed, which spreads into an irregular-shaped, unevenly concentrated pollution plume in the atmosphere. This plume can seriously affect the air quality of the surrounding area and affect residents' lives, easily leading to social conflicts. For such problems, existing end-of-pipe treatments (such as in-pipe spraying) can only act before discharge, and once the odor enters the atmosphere, it is powerless; while traditional ground fog cannon vehicles are difficult to effectively cover and act on the pollution plume in the high air, resulting in poor emergency treatment effect.

[0003] Second, in urban large-scale landfills, odor problems have different characteristics. Its odor sources are usually large-area, mobile and uncertain work surfaces, which belong to typical "near-surface area sources". Especially in summer high temperature or after rain, the organic matter in the garbage decomposes rapidly, producing a large amount of hydrogen sulfide, ammonia, methyl mercaptan and other complex odor gases. These gases are emitted without organization from the broad work surface, forming a near-surface pollution cluster with a wider range, more blurred boundary and more complex composition. Existing treatment methods, such as fixed spraying stations, have limited coverage; while ground fog cannon vehicles are difficult to flexibly respond to frequent changes in work surfaces and complex terrain, also having the problems of treatment blind spots and response lag.

[0004] In summary, whether it is the high-altitude point source pollution of the farm, or the near-ground surface source pollution of the landfill, the existing treatment technology is facing similar and deep-seated challenges: first, the sensing means is backward. The traditional method cannot conduct real-time three-dimensional form and internal concentration gradient survey on dynamic and three-dimensional pollution groups, resulting in that the pollution situation is grasped one-sidedly and laggedly. Second, the operation strategy is single. Although mobile monitoring and deodorization devices have appeared at home and abroad, the operation logic thereof generally uses a single medicament and fixed spraying parameters to conduct indiscriminate operation, and lacks differentiated response capability to pollution degree. Therefore, how to establish a system which can be universally applicable to various open pollution scenes, and can intelligently match and execute different aerial deodorization strategies according to the real-time sensed odor concentration level, so as to realize accurate, efficient and economic control of various pollution sources, has become a technical problem to be solved in the field. SUMMARY

[0005] The present application overcomes the defects of the prior art and provides an unmanned aerial vehicle accurate deodorization method and system based on odor concentration grading. The purpose is to realize real-time sensing of odor concentration in different areas by unmanned aerial vehicles, and divide them into different pollution levels. For different pollution levels, the optimal deodorant type and concentration can be intelligently matched and executed, so as to realize accurate, efficient and economic targeted management of high-altitude diffused odor. The problem of single operation strategy and lack of differentiated response capability to pollution degree is solved.

[0006] The present application provides an unmanned aerial vehicle accurate deodorization method based on odor concentration grading, comprising: S1: constructing a map model based on a preset area, and the unmanned aerial vehicle performing inspection according to a preset inspection route, and collecting odor information, meteorological information and geographic information of the current position in real time through the sensor device and GPS navigation module of the unmanned aerial vehicle, and sending the information to a ground control terminal; S2: after the ground control terminal receives the information, comparing the odor information with a dynamic odor concentration trigger threshold value, if the threshold value is exceeded, determining that the current position is a trigger point and suspending the current task of the unmanned aerial vehicle; S3: taking the trigger point position as a center point, delimiting a local area in the map model, and adopting a horizontal raster scanning and multi-point vertical detection combination strategy to collect multi-point odor information in the local area, and obtaining an odor data set; S4: using a three-dimensional Kriging spatial interpolation algorithm to interpolate the odor data set in three-dimensional space, predicting the concentration value of the three-dimensional grid points in the local area, and obtaining a concentration field model; S5: setting the core area and the optimal working height according to the concentration field model, planning the flight trajectory through the path search algorithm, layering the concentration field model based on the preset level standard, segmenting the flight trajectory at the routes of each layer to obtain a plurality of segment trajectories, and setting segment spraying instructions according to the plurality of segment trajectories; S6: sending the flight trajectory and the segment spraying instructions to the unmanned aerial vehicle for dynamic deodorization operation.

[0007] In the scheme, the S1 is specifically: The sensor device includes an odor monitoring sensor and a meteorological sensor; The GPS navigation film block is used to collect geographic information in real time and transmit the geographic information to the ground control terminal, and the geographic information includes a flight height and three-dimensional coordinates; The odor information includes an odor dimensionless concentration value, and the meteorological information includes a wind direction and a wind speed.

[0008] In the scheme, the S2 includes: The environmental meteorological data is obtained through the ground control terminal, and the odor concentration trigger threshold is dynamically set according to the environmental meteorological data, combined with pollution standards and regional environmental sensitivity levels; Based on the odor information, the odor concentration value is compared with the odor concentration trigger threshold, and if the threshold is exceeded, the current position of the unmanned aerial vehicle is determined as a trigger point, and the unmanned aerial vehicle is temporarily suspended and enters a standby state.

[0009] In the scheme, the S3 is specifically: The local area is specifically a preset local boundary range, and the shape is a square; In the local area, horizontal raster scanning is adopted based on the current height of the unmanned aerial vehicle to quickly collect odor information on the trigger point plane and determine one or more high-concentration odor areas in the horizontal direction; One or more vertical lifting detection and odor information collection are performed in the high-concentration odor area, and the collected horizontal and vertical odor information is summarized to obtain a discrete odor data set; And the odor data set is bound with the meteorological information and the geographic information of the collection data points.

[0010] In the scheme, the S4 is specifically: In the three-dimensional map, the odor data set and the corresponding collection points are labeled, and a three-dimensional Kriging spatial interpolation algorithm is used to perform weighted interpolation on the odor data set in the three-dimensional space; The interpolation is specifically as follows: when calculating the correlation of any two points in the space, the main diffusion direction under the current atmospheric environment is determined according to the environmental meteorological data, the points located in the wind direction are set to have high weights, the correlation of the points located in the side wind direction or the vertical direction is inversely proportional to the distance value, and the correlation weighted interpolation calculation is performed to predict the odor concentration of the three-dimensional grid points in the entire local area and obtain the concentration field model.

[0011] In the scheme, the S5 is specifically as follows: The area with the odor concentration higher than the preset odor concentration is screened out according to the concentration field model, and is set as a core area; and the optimal operation height is set based on the vertical distribution curve of the core area; All the core areas are set as path points, the path searching is performed in the map model based on the A* shortest path, the searching is performed based on the passing cost for each path node in the searching process, the passing cost is inversely proportional to the odor concentration value, and a three-dimensional flight trajectory is obtained; The concentration field model is layered through a preset level standard, so that each layer area corresponds to a level standard; The path segments belonging to different layers in the three-dimensional flight trajectory are segmented to obtain a plurality of trajectory segments; In the plurality of trajectory segments, the best deodorization instruction is matched in combination with the dynamic dose response model to obtain segmented spraying instructions, and different deodorant tanks are selected to perform spraying operation through the control of the metering pump and the valve.

[0012] In the scheme, the S6 includes: The flight trajectory and the segmented spraying instructions are sent to the unmanned aerial vehicle to automatically perform the flight and spraying tasks, and the corresponding medicament switching and flow adjusting instructions are executed according to the real-time position; The data record of the present operation is saved and fed back to the ground control terminal to resume the execution of the large-scale normal cruising monitoring task.

[0013] In the scheme, the unmanned aerial vehicle is configured with a plurality of types and concentrations of deodorant tanks, metering pumps, valves and atomizing nozzles.

[0014] The second aspect of the present application also provides an unmanned aerial vehicle precision deodorization system based on odor concentration grading, which comprises a memory, a processor and a data interface, the memory comprises an unmanned aerial vehicle precision deodorization program based on odor concentration grading, and the unmanned aerial vehicle precision deodorization program based on odor concentration grading is executed by the processor to realize the following steps: S1: constructing a map model based on a preset area, the unmanned aerial vehicle performing patrol according to a preset patrol route, collecting odor information, meteorological information and geographical information of the current position in real time through a sensor device and a GPS navigation module of the unmanned aerial vehicle, and sending the information to a ground control terminal; S2: After receiving the information, the ground control terminal compares the odor information with the dynamic odor concentration trigger threshold value, and if the threshold value is exceeded, the current position is determined as the trigger point and the current task of the unmanned aerial vehicle is suspended; S3: Taking the trigger point position as the center point, a local area is delimited in the map model, and a multi-point odor information collection is carried out in the local area by using a horizontal raster scanning and multi-point vertical detection combination strategy to obtain an odor data set; S4: A three-dimensional Kriging spatial interpolation algorithm is used to interpolate the odor data set in three-dimensional space, predict the concentration values of the three-dimensional grid points in the local area, and obtain a concentration field model; S5: According to the concentration field model, a core area and a best operation height are set, a flight trajectory is planned by a path search algorithm, the concentration field model is layered based on a preset level standard, the flight trajectory is segmented according to the route of each layer, and a segmented spraying instruction is obtained according to the multi-segment trajectory; S6: The flight trajectory and the segmented spraying instruction are sent to the unmanned aerial vehicle for dynamic deodorization operation.

[0015] The third aspect of the application also provides a computer readable storage medium, wherein the computer readable storage medium comprises an unmanned aerial vehicle precision deodorization program based on odor concentration grading, and the unmanned aerial vehicle precision deodorization program based on odor concentration grading is executed by a processor to realize the steps of the unmanned aerial vehicle precision deodorization method based on odor concentration grading according to any one of the above.

[0016] The application has the following beneficial effects: By setting multiple concentration threshold values and combining real-time survey data, the application objectively and quantitatively divides the fuzzy, continuous odor pollution area and the abstract odor pollution to form multiple clear odor concentration level areas, thereby solving the difficulty of accurately positioning the odor source in the traditional deodorization method.

[0017] The traditional spraying method usually adopts a single concentration and uniform coverage mode, and faces the contradiction between the amount of reagent and the concentration and the severity of the pollution area. The grading spraying strategy of the application can automatically match the most suitable deodorant type and spraying dose for different pollution levels based on the three-dimensional concentration field model. While ensuring the treatment effect, the application greatly reduces the invalid consumption of reagents, significantly saves the operation cost, and improves the overall operation efficiency.

[0018] The application uses spatial interpolation and path algorithm to plan the dynamic flight of the unmanned aerial vehicle and segment the spraying, thereby realizing intelligent and efficient three-dimensional space deodorization operation.

[0019] Traditional deodorization method will use the agent with corrosive or acidic, although short-term effect, but its residues on the soil, water source of the farm caused secondary pollution. The present application uses the plant extract, compound weak organic acid and so on as the main environmental protection type compound agent, and combines the accurate spraying technology, from the source prevents the generation of secondary pollution. This avoids the residual pollution of traditional corrosive and acidic agent to the soil and water source from the source; on the other hand, by reducing the total amount of agent, further reduce the potential impact on the surrounding ecological environment, realize the green, sustainable odor control. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The flow chart of the unmanned aerial vehicle precision deodorization method based on odor concentration grading of the present application is shown. Figure 2 The structure diagram of the unmanned aerial vehicle of the present application is shown. Figure 3 The block diagram of the unmanned aerial vehicle precision deodorization system based on odor concentration grading of the present application is shown. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0023] The present application is a method and system for odor grading and precision deodorization of dynamic and irregular odor pollution plume formed by diffusion from the centralized discharge port in open space such as a farm.

[0024] Figure 1 The flow chart of the unmanned aerial vehicle precision deodorization method based on odor concentration grading of the present application is shown, which is a reference schematic diagram.

[0025] The first aspect of the present application provides a kind of unmanned aerial vehicle precision deodorization method based on odor concentration grading, comprising: S1: based on the map model of preset area, unmanned aerial vehicle is patrolled according to preset inspection route, the odor information, meteorological information and geographic information of current position are collected in real time by the sensor device and GPS navigation film block of unmanned aerial vehicle, and are sent to ground control terminal; S2: After the ground control terminal receives the information, the odor information is compared with the dynamic odor concentration trigger threshold value, if the threshold value is exceeded, the current position is determined as the trigger point and the current task of the unmanned aerial vehicle is suspended; S3: Taking the trigger point position as the center point, a local area is demarcated in the map model, and a horizontal raster scanning and multi-point vertical detection combination strategy is used in the local area to collect multi-point odor information to obtain an odor data set; S4: The three-dimensional Kriging spatial interpolation algorithm is used to interpolate the odor data set in three-dimensional space, predict the concentration value of the local area three-dimensional grid point, and obtain a concentration field model; S5: According to the concentration field model, a core area and a best operation height are set, a flight trajectory is planned through a path search algorithm, the concentration field model is layered based on a preset level standard, the flight trajectory is segmented according to the route of each layer, and a segmented spraying instruction is obtained according to the multi-segment trajectory; S6: The flight trajectory and the segmented spraying instruction are sent to the unmanned aerial vehicle for dynamic deodorization operation.

[0026] According to the embodiment of the present application, the S1 specifically comprises: The sensor device comprises an odor monitoring sensor and a meteorological sensor; The GPS navigation film block is used to collect geographic information in real time and transmit it to the ground control terminal, and the geographic information comprises a flight height and three-dimensional coordinates; The odor information comprises odor dimensionless concentration value, and the meteorological information comprises wind direction and wind speed.

[0027] It is worth noting that the unmanned aerial vehicle takes off according to a preset inspection route and flies autonomously. In the flight process, the odor information and meteorological information of the current position are collected in real time through the on-board odor monitoring sensor and meteorological sensor, such as odor dimensionless concentration value, wind direction, wind speed and other data, at the same time, the on-board GPS navigation module records the current flight geographic position coordinates (specifically three-dimensional coordinates, three-dimensional space is established based on the map model) and flight height and sends them to the ground control terminal. After receiving the data, the ground control terminal compares the real-time concentration value with a dynamic odor concentration trigger threshold value.

[0028] According to the embodiment of the present application, the S2 comprises: The environmental meteorological data is obtained through the ground control terminal, and the odor concentration trigger threshold value is dynamically set according to the environmental meteorological data, combined with pollution standards, regional environmental sensitivity level, etc. Based on the odor information, the odor concentration value is compared with the odor concentration trigger threshold value, if the threshold value is exceeded, the current position of the unmanned aerial vehicle is determined as the trigger point, and the unmanned aerial vehicle enters a standby state.

[0029] In a preferred embodiment, the trigger threshold is not a fixed value, but a concentration threshold dynamically set by the ground control terminal according to real-time acquired environmental meteorological data (such as temperature, humidity, wind speed, wind direction) and local environmental protection regulation standards, environmental sensitivity level, etc. to adapt to the odor diffusion law under different environmental conditions. The higher the environmental sensitivity, the lower the threshold value set for the core area determination in the area with lower diffusion capacity.

[0030] When the terminal judges that the received odor concentration value exceeds the current dynamic trigger threshold for the first time, it is determined that the current position is the trigger point of the over-standard pollution area. The system immediately records the three-dimensional coordinates of the trigger point, and instructs the unmanned aerial vehicle to suspend the current cruising task and enter the hovering standby state, preparing to execute the next step.

[0031] The odor concentration value is a dimensionless odor concentration value.

[0032] According to the embodiment of the present application, the S3 is specifically: The local area is specifically a preset local boundary range, which is a square shape; In the local area, horizontal raster scanning is adopted based on the current height of the unmanned aerial vehicle to quickly collect odor information on the plane of the trigger point, and a high-concentration odor area in one or more horizontal directions is determined; In the high-concentration odor area, one or more vertical ascending and descending detections and odor information collection are performed, and the collected horizontal and vertical odor information is summarized to obtain a discrete odor data set; And the odor data set is bound with the meteorological information and geographical information of the data points.

[0033] In the present application, in order to accurately grasp the three-dimensional spatial distribution of the pollution area, the unmanned aerial vehicle performs a three-dimensional spatial fine survey within a preset local boundary range centered on the trigger point.

[0034] In the data collection stage, a preset local boundary range is demarcated centered on the trigger point, which is a square area with a side length of 30-100 meters, and a three-dimensional survey flight path for fine survey is automatically planned within the boundary; The survey flight path adopts a combination strategy of "horizontal raster scanning + multi-point vertical detection": the unmanned aerial vehicle first performs raster scanning at the current height to quickly collect concentration data on the plane to determine one or more high-concentration hotspot areas in the horizontal direction; then in the high-concentration hotspot area, one or more vertical ascending and descending detections are performed to obtain detailed variation data of the concentration in the vertical direction.

[0035] The ground control terminal receives all discrete data points (including three-dimensional coordinates and odor concentration values) of the survey returned by the unmanned aerial vehicle, and unifies them to the same geographic coordinate system, that is, to the map model. Meanwhile, real-time environmental meteorological data (such as wind speed and wind direction) corresponding to the time when each data point is collected are bound, so as to provide a data basis for subsequent interpolation calculation.

[0036] According to the embodiment of the present application, the S4 is specifically: In the three-dimensional map, the odor data set and the corresponding collection points are labeled, and the three-dimensional spatial weighted interpolation is performed on the odor data set by using the three-dimensional Kriging spatial interpolation algorithm. The interpolation is specifically that, when calculating the correlation between any two points in the space, the main diffusion direction under the current atmospheric environment is determined according to the environmental meteorological data, the points located in the wind direction are set to have high weights, the correlation of the points located in the crosswind direction or the vertical direction is inversely proportional to the distance value, and the interpolation calculation is performed through the correlation weighting, so as to predict the three-dimensional grid point odor concentration of the entire local area and obtain the concentration field model.

[0037] In the embodiment, the three-dimensional digital concentration field model is generated by using the spatial interpolation algorithm. After the discrete data point set after preprocessing is obtained, the three-dimensional Kriging spatial interpolation algorithm based on the anisotropy of atmospheric diffusion is used. In the traditional Kriging interpolation algorithm, when calculating the correlation between any two points in the space, the effective distance dynamically corrected by the real-time wind field data is introduced instead of relying on the physical distance between the two points. First, the main diffusion direction under the current atmospheric environment is determined according to the wind speed and wind direction data. Then, when the Kriging interpolation algorithm is constructed, the distances in different directions are weighted: the points located in the wind direction are given a high correlation weight even if the distance is far, because the pollutants will be transported farther along the wind direction; on the contrary, the correlation of the points located in the crosswind direction or perpendicular to the wind direction rapidly decays with the increase of the distance. Finally, through the interpolation algorithm, the system can calculate and predict the concentration values of all three-dimensional grid points in the entire survey range, so that the interpolation result is more in line with the fluid dynamics law through the environmental temperature, humidity and wind speed. Finally, a complete and intuitive three-dimensional digital concentration field model representing the pollution cloud in the local area is generated.

[0038] According to the embodiment of the present application, the S5 is specifically: The area higher than the preset odor concentration is screened out according to the concentration field model, and is set as a core area. The best operation height is set based on the vertical distribution curve of the core area. All the core areas are set as path points, the path search is performed in the map model based on the A* shortest path, the search is performed based on the passing cost for each path node in the search process, the passing cost is inversely proportional to the odor concentration value, and a three-dimensional flight trajectory is obtained. The concentration field model is layered by presetting the level standards, so that each layer area corresponds to a level standard; According to the path segments belonging to different layers in the three-dimensional flight trajectory, a plurality of trajectory segments are obtained; In the plurality of trajectory segments, the best deodorization instruction is matched in combination with a dynamic dose response model to obtain segmented spraying instructions, and by controlling a metering pump and a valve, different deodorant tanks are selected to perform spraying operations.

[0039] It is worth noting that the preset odor concentration is set according to the actual environment, and can also be selected as the area with the highest concentration. Each layer includes a region with a certain spatial range.

[0040] The passing cost function is as follows: ; Wherein P is the passing cost of a node, is a correction coefficient, D is the flight distance, T is the predicted time required for flying a node, and U is the odor concentration value of a node (which can be a predicted value or a collected value).

[0041] It is worth noting that, based on the concentration field model, the path planning module of the ground control terminal performs in-depth analysis on the generated three-dimensional digital concentration field model, and automatically plans the optimal operation flight route and spraying strategy in intelligent operation planning.

[0042] By analyzing the concentration core area and determining the best operation height, the system identifies the area with the highest concentration value, i.e., the "concentration core area", by analyzing the three-dimensional model. At the same time, in combination with the concentration vertical distribution curve, a "best operation height" that can maximize the spraying efficiency and coverage effect is determined. The present application can realize the planning of an efficient three-dimensional flight trajectory, based on the analyzed concentration core area position and the best operation height, the path planning module adopts a path search algorithm to automatically plan a three-dimensional flight trajectory that can efficiently pass through or surround the entire concentration core area. This trajectory ensures that the UAV can maximize the coverage of high-concentration areas during operation.

[0043] The system divides the entire three-dimensional concentration field model into layers according to a preset odor concentration influence level standard (i.e., a preset level standard, for example, level I: 0-20, level II: 20-50, level III: 50-70, and level IV: 70 or above). Then, the planned three-dimensional flight trajectory is segmented, and each segment of the trajectory corresponds to a specific concentration level area. Accordingly, the system generates a series of segmented and differentiated spraying instructions. The instruction content includes: when entering a certain concentration level area, the instruction automatically switches the unmanned aerial vehicle to the most suitable tank from a plurality of (for example, low, medium, and high) preloaded tanks of different types or concentrations of deodorizing agents carried by the unmanned aerial vehicle. At the same time, according to the accurate concentration value of the current position, the optimal spraying flow rate is calculated in real time through a dynamic dose response model, and the metering pump and valve are controlled to accurately execute.

[0044] According to an embodiment of the present application, the S6 comprises: The flight trajectory and the segmented spraying instructions are sent to the unmanned aerial vehicle to automatically execute the flight and spraying tasks, and the corresponding agent switching and flow rate adjustment instructions are executed according to the real-time position; The data record of this operation is saved and fed back to the ground control terminal to resume the normal cruise monitoring task.

[0045] It is worth noting that after the unmanned aerial vehicle receives the operation task package containing the three-dimensional flight path and the segmented spraying instructions, the precise deodorization operation and the resumption of the cruise are automatically loaded and strictly executed. During the operation, the unmanned aerial vehicle flies along the planned flight path and accurately executes the corresponding agent switching and flow rate adjustment instructions according to the real-time position, completing the stereoscopic, hierarchical, and targeted precise deodorization operation on the local pollution area. After the operation is completed, the system saves the data record of this operation. Subsequently, the unmanned aerial vehicle completes the task and resumes its normal cruise monitoring task.

[0046] According to an embodiment of the present application, the unmanned aerial vehicle is configured with multiple types and concentrations of deodorizing agent tanks, metering pumps, valves, and atomizing nozzles.

[0047] Figure 2 The structure diagram of the unmanned aerial vehicle of the present application is shown.

[0048] According to an embodiment of the present application, it further comprises: During the execution of the segmented spraying instructions by the unmanned aerial vehicle in each segment of the trajectory, a delay waiting time T1 is set, which is set according to the predicted flight time of each segment of the trajectory; In each segment of the trajectory, odor information is collected after T1, and a feedback odor value is obtained; The original odor concentration value is obtained in the concentration field model, and the original odor concentration value and the feedback odor value are compared to obtain an instantaneous change value; After multiple trajectory segments, multiple instantaneous change values are collected and sequenced to obtain a feedback concentration change sequence; The feedback concentration change sequence is subjected to sequence stationarity checking by ADF stationarity checking, and moving average method is introduced for processing for the part of the sequence that is not stationary. One or more target path points are selected in the multiple path segments, and corresponding data points are screened out in the feedback concentration change sequence based on the target path points. The linear change rate of each data point in the feedback concentration change sequence is calculated by linear evaluation method, and the deodorization effectiveness of the target path point is evaluated by the linear change rate.

[0049] Here, T1 is generally 1.5-2 times the predicted flight time, and this period is set to collect the instantaneous change of odor information (odor concentration) after a certain delay time of spraying. The predicted flight time is generally calculated by the current flight speed and the path length of the corresponding node. The instantaneous change value is the percentage increase or decrease of the feedback odor value compared with the original odor concentration value. One instantaneous change value corresponds to one trajectory segment or one path point. The target path point can be selected as the core area point or the important space area point.

[0050] In the traditional spray feedback analysis process, there is often a lack of real-time dynamic spray analysis process and effective evaluation process. In the deodorization evaluation of unmanned aerial vehicles in complex environments, the complex diffusion of air is affected by the climate and environment, which often leads to certain misleading results in feedback analysis, making it difficult to accurately evaluate the deodorization feedback results in real time and timely manner. Based on this, the present application uses the concentration field model to analyze the instantaneous odor concentration of each trajectory segment or each path point, forms a feedback sequence based on the planned flight route, screens the nodes that have certain abnormal discrimination through sequence stationarity analysis, and performs certain stationary processing on the sequence, which can effectively eliminate abnormal fluctuations and unexpected data points, and then analyze the potential concentration change pattern as much as possible under complex environmental conditions. Through multi-point linear evaluation of the processed sequence, the corresponding linear change rate is analyzed. The smaller the value (closer to 0), the more stable the concentration change rate, and the higher the deodorization effectiveness.

[0051] Example 1: Taking the application scene of a large-scale intensive pig farm in City A as an example. Due to the low temperature and strong wind in winter, it is not conducive to the natural diffusion of odor, and the downwind field boundary area of the farm is prone to odor concentration accumulation, which may cause complaints from surrounding residents and require emergency deodorization operations. The overall process can be Figure 1 For reference. Specifically includes the following steps: Perform cruise monitoring and pollution identification: First, the unmanned aerial vehicle system is checked and then takes off from the designated location. The operator sets a cruise route along the entire boundary of the farm for the unmanned aerial vehicle through the ground control terminal, sets the cruising height to 15 meters, and the cruising speed to 5 meters per second. The unmanned aerial vehicle enters the autonomous flight mode, and the odor monitoring sensor and the weather sensor continuously collect data and return them to the ground terminal in real time along with the GPS coordinates. The processor of the ground terminal analyzes the concentration data returned in real time and compares it with the preset trigger threshold. In this embodiment, the threshold is set to 20 (corresponding to the starting value of level II slight influence) according to the upper limit of the industry standard of part of the area of City A and the sensitivity of the on-site environment. When the system detects that the concentration value of a certain point exceeds 20, it is immediately determined that a pollution area exceeding the standard has been found, and the longitude, latitude, and height of the trigger point are automatically recorded, and the unmanned aerial vehicle is instructed to suspend the cruise mission and hover near the point.

[0052] The specific odor concentration dimensionless classification is as follows: Level I (0-20, no influence), residents usually cannot perceive the odor, it has no effect on human health, and it does not affect livestock production; Level II (20-50, slight influence), the odor is obvious and audible, sensitive people have mild discomfort, livestock production is lost, and enterprises need to invest in basic deodorization; Level III (50-70, significant influence), residents' lives are severely disturbed by the odor, most people have acute irritation symptoms, livestock production performance declines and diseases are common, and enterprises face fines and rectification; Level IV (70 and above, serious influence), residents' normal life is at a standstill and there is a health risk, livestock die in large numbers or lose their production capacity, and enterprises are heavily fined or even shut down.

[0053] Local fine survey and construction of a three-dimensional digital concentration field model: The unmanned aerial vehicle defines a square area with a side length of 50 meters as the local fine survey range centered on the trigger point. The unmanned aerial vehicle first performs raster scanning at the current 15-meter height to quickly collect concentration data on the plane to determine the high-concentration hotspots in the horizontal direction. Then, vertical ascending and descending detection is performed above the identified high-concentration area to obtain the distribution data of the concentration in the vertical direction. After receiving all the discrete survey data points, the ground terminal calls the built-in three-dimensional Kriging spatial interpolation algorithm based on atmospheric diffusion anisotropy to complete the data and construct the model based on the bound real-time wind speed and direction data, and finally generates a three-dimensional digital concentration field model that can intuitively represent the three-dimensional shape, spatial position, and internal concentration gradient of the local pollution area.

[0054] Intelligent operation planning based on the concentration field model: The path planning module of the ground terminal analyzes the generated three-dimensional model. First, the concentration core area is determined by the marching cubes algorithm. Then, the optimal working height is determined by the concentration weighted centroid algorithm. Based on this, the system uses the A* search algorithm to automatically plan a three-dimensional flight trajectory for the unmanned aerial vehicle that can efficiently cover and pass through the concentration core area. At the same time, the system divides the entire concentration field model into layers according to levels I-IV (level I:<20, level II:20-50, level III:50-70, level IV:>70), and matches different spraying instructions for different segments on the three-dimensional flight trajectory. For example: when the trajectory is in the level II concentration area, instruct the unmanned aerial vehicle to switch to tank 1 containing low-concentration chemical deodorant; when in the level III area, switch to tank 2 containing medium-concentration chemical deodorant; when in the level IV area, switch to tank 3 containing high-concentration chemical deodorant. Furthermore, a dynamic dose-response model is used to calculate and instruct the spraying flow rate in real time according to the specific concentration value at the flight point.

[0055] Performing precision deodorization and resuming cruising: After the unmanned aerial vehicle receives and loads the task package containing the complete three-dimensional path and segmented spraying instructions, it begins to automatically perform the task. The unmanned aerial vehicle accurately flies along the planned route, and the central processing unit issues instructions to the spraying subsystem based on the real-time position to control tank switching and spraying flow rate, completing the three-dimensional, hierarchical, and targeted deodorization of the local pollution area. After the task is completed, the operation log and related data are saved. Subsequently, the unmanned aerial vehicle automatically returns to the cruising suspension point and resumes the large-scale cruising monitoring task.

[0056] Example 2: Taking the application scenario of a large-scale landfill in B City in summer as an example for illustration. In summer, the high temperature and high humidity accelerate the fermentation of organic matter in garbage, resulting in a large amount of hydrogen sulfide, ammonia, and other odor being produced and rapidly volatilized. At the same time, the irregular changes in the landfill operation surface make the odor source mobile and uncertain. The task objective of this embodiment is to perform routine preventive inspection, actively identify and eliminate early-stage, small-scale over-standard leakage points before large-scale odor diffusion and user complaints. The specific steps include the following: Performing cruising monitoring and odor monitoring threshold: In this embodiment, a routine inspection mode is adopted. The unmanned aerial vehicle system automatically performs the task every day during the period when odor is easily volatilized (10 am-4 pm). The ground control terminal sets a "bow" shaped carpet cruising route covering the entire landfill operation area and the downwind sensitive area, with a cruising height of 10 meters to be closer to the ground source, and a cruising speed of 4 meters / second. In this embodiment, considering that people are more sensitive to the odor of the landfill, the following three-level dimensionless classification scheme is developed based on the local standards of B City, the national standard GB 14554-93, and the management characteristics of the landfill: Grade I (0-15, standard controllable), residents have no odor perception, no adverse effects on health, landfill only needs to maintain routine sealing, drainage measures, no environmental complaint risk; Grade II (15-50, slightly over standard), odor is obvious, sensitive groups have mild throat discomfort, landfill needs to start biological deodorization and other strengthening measures, facing complaints; Grade III (more than 50, serious over standard), residents' life is strongly affected, landfill violates environmental regulations, facing the risk of fines, forced rectification and suspension.

[0057] Local fine survey and construction of three-dimensional concentration field model: The UAV first descends to a preset height of 5 meters from the ground, which can effectively avoid ground obstacles while maximizing the proximity to the surface odor source of the landfill. Then, the UAV flies at a low speed of 1 meter / second along the north-south boundary of the square operation area, starting to perform east-west "raster" reciprocating flight. Each east-west flight path maintains a fixed interval of 5 meters, ensuring complete coverage of the entire horizontal plane. During flight, the on-board sensor continuously collects concentration data at a frequency of 5 times per second, which is transmitted in real time to the ground terminal through a wireless link.

[0058] After receiving and analyzing the data of the first stage, the ground terminal automatically calculates the center of the hot spot. The UAV then flies to the center point directly above and hovers. Then, the UAV performs a uniform vertical climb, starting from a height of 3 meters and climbing at a speed of 0.5 meters / second to a height of 15 meters. During the entire climb, the sensor also continuously collects concentration data at a high frequency, thereby obtaining a complete concentration profile that reflects the diffusion and uplift of pollutants in the vertical direction. If there are multiple hot spots, the UAV will perform a vertical detection on each hot spot in turn.

[0059] Based on anisotropic three-dimensional Kriging interpolation algorithm and real-time wind field data (wind direction and speed) from the on-board weather station. In the summer, weak or chaotic wind is common, and since there is no stable dominant wind direction, the spatial correlation function decay coefficient of the algorithm in all directions tends to be consistent, making the interpolation result more inclined to form an irregular "cluster" model around the source. This way accurately reproduces the physical phenomenon of odor slowly and uniformly diffusing under the influence of its own heat and molecular Brownian motion in the absence of wind or chaotic wind, ultimately generating a high-fidelity three-dimensional digital concentration field model, providing accurate decision-making basis for subsequent path planning.

[0060] Intelligent operation planning based on concentration field model: When the three-dimensional digital concentration field model is completed, the intelligent operation planning module of the ground terminal immediately starts working. Since the goal of this embodiment is to deal with early and small-scale pollution, the core idea of the planning is "fast, thorough, and prevent spread".

[0061] The improved three-dimensional A* path planning algorithm shows high adaptability in this scenario. The internal pathfinding logic is specially designed: when exploring possible paths from the starting point to the ending point, the algorithm evaluates the "passing cost" of each node on the path. This cost is not just the distance or time of flight, but is designed as a function inversely proportional to the odor concentration value of the node. This means that when the algorithm faces multiple choices, it will instinctively and preferentially choose the path that traverses the area with higher concentration values. The result of this design is that the algorithm eventually generates not a simple straight line or shortest path, but a compact and winding reciprocating flight trajectory that can efficiently traverse all areas with concentration values exceeding 15 (i.e., level II mild over-standard), thereby achieving fast and thorough removal.

[0062] The odor components of the landfill are complex, and the best neutralizing agent for different components is also different. In this embodiment, the unmanned aerial vehicle is preloaded with two different types of agents: No. 1 agent tank carries a plant extract deodorant. This agent uses citrus extract (its main active ingredient is D-limonene), tea polyphenols, and various plant essential oils as core components. Its mechanism of action is mild, and it achieves deodorization by wrapping, decomposing, and neutralizing odor molecules, and has no secondary pollution, making it an ideal choice for dealing with conventional or mildly over-standard odor.

[0063] No. 2 agent tank carries a composite strong deodorant. This agent is a formula specially designed for high-concentration malodor, which includes: alkaline components (potassium hydroxide) for rapid neutralization of acidic gases (such as hydrogen sulfide); oxidative components (sodium percarbonate) for strong decomposition of various organic odor molecules; and adjuvants to enhance the adhesion and adsorption of the agent.

[0064] When generating operation instructions, the system strictly follows the following rules: for all areas on the route with concentration values in the II level (15-50) range, the instruction unmanned aerial vehicle calls No. 1 agent tank for spraying; and once the route enters an area with a concentration value reaching level III (50 or above), the system immediately instructs a switch to No. 2 agent tank for strong treatment.

[0065] The flow rate of spraying is not a fixed value, but is accurately linearly related to the real-time concentration value to achieve the ultimate optimization of dosage.

[0066] The dynamic dose-response model can be set as follows: With the minimum concentration value 15 as the reference point for triggering spraying, the corresponding spraying flow is set to 5 ml / s. Above this reference point, the spraying flow increases by 5 ml / s for every 10 units increase in odor concentration. According to this rule, the specific flow control example is as follows: When the UAV flies over an area with a real-time concentration of 25, the model calculates and instructs the metering pump to output a flow of 10 ml / s.

[0067] When the UAV enters a severely over-standard area with a concentration of 65, the system switches the instruction to No. 2 tank while calculating the corresponding flow according to the same linear rule, which is 30 ml / s, ensuring that the strong agent is sprayed with sufficient dosage to deal with serious pollution.

[0068] Precise deodorization operation and recovery of inspection: After loading the task package, the UAV automatically performs the operation. It follows the planned compact route and performs efficient and dead-angle-free targeted spraying on the entire early pollution group. After the operation is completed, the system records the log of this processing event (including location, time, concentration, main pollutant components, type and amount of agent used, etc.), providing valuable data support for subsequent analysis of landfill operation management and optimization. Subsequently, the UAV automatically returns to the cruising suspension point and continues to perform its carpet-like normal inspection task.

[0069] The concentration values in the embodiments are a relative reference standard value. Based on different types of odor and deodorization conditions in different scenarios, the numerical standardization range and threshold value can be adjusted to adapt to different odor environments.

[0070] Figure 3 A block diagram of a UAV precise deodorization system based on odor concentration grading is shown.

[0071] The second aspect of the present application also provides a UAV precise deodorization system based on odor concentration grading, which comprises a memory, a processor, and a data interface for connecting a UAV, a ground control terminal, a user mobile terminal, and other devices. The memory is used to store a series of data collected and analyzed by the system during the deodorization process. The memory also includes a UAV precise deodorization program based on odor concentration grading. When the UAV precise deodorization program based on odor concentration grading is executed by the processor, the following steps are implemented: S1: Construct a map model based on a pre-set area. The UAV inspects according to the pre-set inspection route, collects real-time odor information, weather information, and geographic information at the current location through the sensor device and GPS navigation module of the UAV, and sends the information to the ground control terminal. S2: After receiving the information, the ground control terminal compares the odor information with the dynamic odor concentration trigger threshold value, and if the threshold value is exceeded, the current position is determined as the trigger point and the current task of the unmanned aerial vehicle is suspended; S3: Taking the trigger point position as the center point, a local area is delimited in the map model, and a horizontal raster scanning and multi-point vertical detection combination strategy is used in the local area for multi-point odor information collection to obtain an odor data set; S4: A three-dimensional Kriging spatial interpolation algorithm is used to interpolate the odor data set in three-dimensional space, predict the concentration values of the local area three-dimensional grid points, and obtain a concentration field model; S5: According to the concentration field model, a core area and a best operation height are set, a flight trajectory is planned through a path search algorithm, the concentration field model is layered based on a preset level standard, the flight trajectory is segmented according to the route of each layer, and a segmented spraying instruction is obtained according to the multi-segment trajectory; S6: The flight trajectory and the segmented spraying instruction are sent to the unmanned aerial vehicle for dynamic deodorization operation.

[0072] The system can realize one or more steps of the above-mentioned unmanned aerial vehicle precise deodorization method based on odor concentration grading.

[0073] The third aspect of the application also provides a computer readable storage medium, wherein the computer readable storage medium comprises an unmanned aerial vehicle precise deodorization program based on odor concentration grading, and the unmanned aerial vehicle precise deodorization program based on odor concentration grading is executed by a processor to realize the steps of the above-mentioned unmanned aerial vehicle precise deodorization method based on odor concentration grading.

[0074] The application discloses an unmanned aerial vehicle precise deodorization method and system based on odor concentration grading, which specifically realizes real-time sensing of odor concentrations of different areas by an unmanned aerial vehicle, divides the areas into different pollution levels, adopts a horizontal raster scanning and multi-point vertical detection combination strategy for multi-point area scanning and data collection, introduces an interpolation algorithm to construct a concentration field model, plans multi-segment flight trajectories, and further intelligently matches and executes optimal deodorant types and concentrations, so as to realize precise, efficient and economic targeted management of high-altitude diffused odor.

[0075] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application can be generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example: coaxial cable, optical fiber, data user line) or wireless (for example: infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available medium can be a magnetic medium (for example: floppy disk, hard disk, magnetic tape), an optical medium (for example: digital versatile disc, or a semiconductor medium (for example: solid state disk) etc. In various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions of different embodiments are consistent and can be referred to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0076] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the textual description of the embodiments of the present application, the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship. In the present application, "first", "second" and various number designations are only for the convenience of description and do not limit the scope of the embodiments of the present application. For example, to distinguish different messages, rather than to describe a specific order or sequence.

[0077] It can be understood that the various number designations involved in the embodiments of the present application are only for the convenience of description and do not limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the execution order, and the execution order of the processes should be determined by its function and inherent logic.

[0078] Finally, it should be noted that the above description is merely a specific implementation of the present application, and the protection scope of the present application is not limited thereto, and any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application.

Claims

1. A method for precise deodorization by a drone based on odor concentration grading, characterized in that, Comprise: S1: based on the preset area to construct a map model, the unmanned aerial vehicle according to the preset inspection route inspection, through the sensor device and GPS navigation film piece of unmanned aerial vehicle, real-time collection of current position of odor information, weather information and geographic information, and send to ground control terminal; S2: ground control terminal receives information, the odor information and dynamic odor concentration trigger threshold are compared, if exceed threshold, then determine the current position is trigger point and suspend unmanned aerial vehicle current task; S3: with trigger point position as the center point, local area is demarcated in the map model, and in local area, horizontal raster scanning and multi-point vertical detection combination strategy are used for multi-point odor information collection, and odor data set is obtained; S4: using three-dimensional kriging space interpolation algorithm, the odor data set is interpolated on three-dimensional space, the concentration value of local area three-dimensional grid point is predicted, and concentration field model is obtained; S5: according to concentration field model, core area and best operation height are set, flight trajectory is planned through path search algorithm, concentration field model is layered based on preset grade standard, according to flight trajectory in each layer route is segmented, and multi-segment trajectory is obtained, and segmented spraying instruction is set according to multi-segment trajectory; S6: flight trajectory and segmented spraying instruction are sent to unmanned aerial vehicle to carry out dynamic deodorization operation.

2. The method according to claim 1, wherein, The S1, specifically: Sensor device includes odor monitoring sensor and weather sensor; GPS navigation film piece is used for real-time acquisition of geographic information and transmission to ground control terminal, and geographic information includes flight height and three-dimensional coordinates; Odor information includes odor dimensionless concentration value, and weather information includes wind direction and wind speed.

3. The method of claim 1, wherein the method is based on the concentration of the odor. The S2 includes: Through ground control terminal, environmental meteorological data is obtained, and according to environmental meteorological data, combined with pollution standard, regional environmental sensitivity grade, dynamic odor concentration trigger threshold is set; Based on odor information, odor concentration value and odor concentration trigger threshold are compared, if exceed threshold, then determine the current position of unmanned aerial vehicle is trigger point, and the current task of unmanned aerial vehicle is suspended and enters the state of hovering standby.

4. The method of claim 1, wherein the method is based on the concentration of the odor. The S3 specifically: Local area is specifically a preset local boundary range, and the shape is square; In local area, horizontal raster scanning is used based on the current height of unmanned aerial vehicle, odor information on the plane of trigger point is rapidly collected, and one or more high-concentration odor regions in horizontal direction are determined; One or more vertical lifting detection and odor information collection are carried out in high-concentration odor region, and the collected horizontal and vertical odor information is summarized to obtain discrete odor data set; And odor data set and meteorological information and geographic information of collection data point are bound.

5. The method of claim 1, wherein the method is based on the concentration of the odor. The S4, specifically: In three-dimensional map, odor data set and corresponding collection point are marked, and three-dimensional kriging space interpolation algorithm is used to carry out three-dimensional space weighted interpolation on odor data set. The interpolation specifically refers to, when calculating the correlation of any two points in the space, determining the main diffusion direction under the current atmospheric environment according to the environmental meteorological data, based on the main diffusion direction, the points located in the wind direction are set to have high weights, the points located in the crosswind direction or the vertical direction have a correlation inversely proportional to the distance value, and the correlation is weighted to perform interpolation calculation, so as to predict the odor concentration of the three-dimensional grid points in the entire local area and obtain the concentration field model.

6. The method of claim 1, wherein the method is based on odor concentration grading. The S5 specifically refers to: According to the concentration field model, an area higher than a preset odor concentration is screened out and set as a core area, and based on the vertical distribution curve of the core area, an optimal operation height is set; All the core areas are set as path points, path searching is performed in the map model based on the A* shortest path, in the searching process, for each path node, searching is performed based on the passing cost, and the passing cost is inversely proportional to the odor concentration value, and a three-dimensional flight trajectory is obtained; The concentration field model is layered through a preset level standard, so that each layer area corresponds to a level standard; According to the path segments belonging to different layers in the three-dimensional flight trajectory, a plurality of trajectory segments are obtained; In the plurality of trajectory segments, the best deodorization instruction is matched in combination with the dynamic dose-response model to obtain segmented spraying instructions, and different deodorant tanks are selected to perform spraying operations through control of the metering pump and the valve.

7. The method of claim 1, wherein the method is based on odor concentration grading. The S6 includes: The flight trajectory and the segmented spraying instructions are sent to the unmanned aerial vehicle to automatically perform the flight and spraying tasks, and corresponding medicament switching and flow adjusting instructions are executed according to the real-time position; Data records of this operation are saved and fed back to the ground control terminal to resume the execution of the large-scale normal cruise monitoring task.

8. The method of claim 1, wherein the method is based on odor concentration grading. The unmanned aerial vehicle is configured with a plurality of types and concentrations of deodorant tanks, metering pumps, valves and atomizing nozzles.

9. An unmanned aerial vehicle precision deodorization system based on odor concentration grading, characterized in that, The system includes a memory, a processor and a data interface, the memory includes an unmanned aerial vehicle precision deodorization program based on odor concentration grading, and the unmanned aerial vehicle precision deodorization program based on odor concentration grading is executed by the processor to realize the following steps: S1: a map model is constructed based on a preset area, the unmanned aerial vehicle performs patrol according to a preset patrol route, the odor information, meteorological information and geographical information of the current position are collected in real time through the sensor device and GPS navigation module of the unmanned aerial vehicle, and are sent to the ground control terminal; S2: after receiving the information, the ground control terminal compares the odor information with the dynamic odor concentration trigger threshold value, if the threshold value is exceeded, the current position is determined as a trigger point and the current task of the unmanned aerial vehicle is paused; S3: taking the trigger point position as a center point, a local area is demarcated in the map model, and a multi-point odor information collection is performed in the local area by using a horizontal raster scanning and a multi-point vertical detection combination strategy to obtain an odor data set; S4: a three-dimensional Kriging space interpolation algorithm is used to perform three-dimensional space interpolation on the odor data set to predict the concentration values of the three-dimensional grid points in the local area and obtain a concentration field model; According to the path segments belonging to different layers in the three-dimensional flight trajectory, a plurality of trajectory segments are obtained; In the plurality of trajectory segments, the best deodorization instruction is matched in combination with the dynamic dose-response model to obtain segmented spraying instructions, and different deodorant tanks are selected to perform spraying operations through control of the metering pump and the valve. S5: according to the concentration field model, the core area and the optimal working height are set, the flight trajectory is planned through the path search algorithm, the concentration field model is layered based on the preset level standard, the flight trajectory is segmented according to the route of each layer, and a plurality of segment trajectories are obtained, and the segment spraying instructions are set according to the plurality of segment trajectories; S6: the flight trajectory and the segment spraying instructions are sent to the unmanned aerial vehicle for dynamic deodorization operation.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises an unmanned aerial vehicle precision deodorization program based on odor concentration grading, and when the unmanned aerial vehicle precision deodorization program based on odor concentration grading is executed by the processor, the steps of the unmanned aerial vehicle precision deodorization method based on odor concentration grading in any one of claims 1 to 8 are realized.

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