Adaptive topography plant protection unmanned aerial vehicle intelligent spraying method and system

Abstract

The application relates to the field of agricultural intelligent technology, in particular to a self-adaptive-terrain plant protection unmanned aerial vehicle intelligent spraying method and system, which comprises the following steps: providing a target spraying area; determining a collection path of a collection unmanned aerial vehicle, collecting plant data of the target spraying area when the collection unmanned aerial vehicle moves along the collection path; obtaining upper plant contour data according to the plant data; determining a spraying path of a spraying unmanned aerial vehicle according to the upper plant contour data, spraying liquid to plants in the target spraying area through a spraying head when the spraying unmanned aerial vehicle moves along the spraying path; and after the spraying unmanned aerial vehicle sprays along the spraying path, the cumulative spraying range of the spraying head covers the whole target spraying area. The application mainly solves the problems that the liquid use rate of the current plant protection unmanned aerial vehicle is low, the liquid spraying amount is large, and the environment is caused to have more adverse effects.

Description

Technical Field

[0001] This application relates to the field of intelligent agricultural technology, specifically to an intelligent spraying method and system for plant protection drones that adapt to terrain. Background Technology

[0002] Smart agriculture technology refers to an agricultural production method that utilizes modern information technology, Internet of Things (IoT) technology, and big data technology to promote intelligent, efficient, and safe agricultural production. In recent years, smart agriculture technology has been widely applied to plant disease and pest control and the rational use of pesticides, helping to improve agricultural production efficiency and quality, reduce production costs, and protect the ecological environment. Smart agriculture technology can scientifically and rationally plan and control the timing, dosage, and methods of pesticide application by developing pesticide use plans.

[0003] Current smart agriculture technologies typically use agricultural drones to apply pesticides to plants. However, because drones generally follow simple, point-to-point routes, their safety requires them to fly at a relatively high altitude to maintain a sufficient safety distance between the drone and the plants. At higher altitudes, the pesticides sprayed by the drones diffuse over a wider area and time, resulting in a lower percentage of pesticide adhering to the plant surface. Consequently, more pesticide needs to be sprayed to achieve the desired effect.

[0004] Therefore, in the current intelligent pesticide application technology of agricultural drones, the pesticide utilization rate of agricultural drones is low, and because of the low utilization rate, more pesticides need to be sprayed, which causes more adverse effects on the environment. Summary of the Invention

[0005] This application primarily addresses the problems of low pesticide utilization rates, large pesticide spraying volumes, and significant environmental impact caused by current agricultural drones.

[0006] This application provides an intelligent spraying method for agricultural drones that adapts to terrain, the intelligent spraying method comprising: Provide a target spraying area; The collection path of the collection drone is determined, and the collection drone collects plant data of the target spraying area as it moves along the collection path; wherein, the collection drone includes at least a binocular vision sensor or a distance sensor, and after the collection drone completes the collection along the collection path, the cumulative collection range of the binocular vision sensor or the distance sensor covers the entire target spraying area; Obtain the upper outline data of the plant based on the plant data; The spraying path of the spraying drone is determined based on the upper contour data of the plant. As the spraying drone moves along the spraying path, it sprays pesticide onto the plants in the target spraying area through the spray head. The spraying drone includes at least a spray head. When determining the spraying path of the spraying drone, the vertical distance between the spraying path and the upper contour of the plant is a preset distance. After the spraying drone completes spraying along the spraying path, the cumulative spraying range of the spray head covers the entire target spraying area.

[0007] In some embodiments, determining the acquisition path of the acquisition drone includes: Obtain the minimum bounding rectangle of the target spraying area; the minimum bounding rectangle is the smallest rectangle that completely contains the target spraying area; Obtain the position information of the projection points of the four vertices of the minimum bounding rectangle on the ground, and determine the tilt angle of at least one first path based on the position information; Obtain the plant height in the target spraying area and determine the safe ground clearance of the data collection drone based on the plant height; Starting from one of the projection points and ending at the projection point diagonally opposite to that projection point, the data collection drone maintains a safe altitude above the ground and traverses all the first paths in sequence to determine the data collection path of the drone.

[0008] In some embodiments, determining the tilt angle of at least one first path based on the location information includes: Starting from one of the projection points and ending at the diagonal projection points, obtain the first line connecting the starting point and the adjacent projection point on the first side, obtain the second line connecting the starting point and the adjacent projection point on the second side, obtain the third line connecting the adjacent projection point on the first side and the ending point, and obtain the fourth line connecting the adjacent projection point on the second side and the ending point. Divide the first line and the fourth line into at least two segments at equal intervals, and obtain at least one set of dividing points on the first line and the fourth line respectively; Obtain at least one first path; wherein the at least one first path includes a second connection, a third connection, and a connection between each set of dividing points.

[0009] In some embodiments, the acquisition drone includes a binocular vision sensor; while the acquisition drone moves along the acquisition path, it acquires plant image data of the target spraying area through the binocular vision sensor; obtaining the upper contour data of the plant based on the plant data includes: A 3D model of the farmland in the target spraying area was constructed based on plant image data. Data on the upper contour of the plants were obtained from a 3D model of the farmland.

[0010] In some embodiments, the data acquisition drone includes a distance sensor; as the data acquisition drone moves along the acquisition path, it acquires plant spatial data of the target spraying area through the distance sensor, and the step of obtaining the upper contour data of the plant based on the plant data includes: As the drone moves along the collection path, the distance sensor acquires the distance between the drone and the plants below in real time, and records the location of the collection path corresponding to the acquisition of the distance value. Based on the corresponding distance values ​​and the location of the acquisition path, the upper contour data of the plant is obtained.

[0011] In some embodiments, determining the spraying path of the spraying drone based on the upper contour data of the plant includes: Based on the upper contour data of the plant, obtain the plant height and distribution at different locations in the target spraying area; Based on the plant height at different locations within the designated spraying area, the spraying path of the spraying drone is determined to ensure that the spray nozzle of the drone maintains a preset distance from the upper contour of the plant.

[0012] In some embodiments, the spraying path includes at least one second path, and the widths of the different second paths are equal. The width of the second path is L, and the preset distance H satisfies: ; Where θ is the maximum spray angle of the spray head, and L is the width of the second path.

[0013] This application also provides an intelligent spraying system for agricultural drones that adapts to terrain, the intelligent spraying system comprising: At least one data collection drone, the data collection drone including at least a binocular vision sensor or a distance sensor, the data collection drone being used to move along a data collection path and to collect plant data of the target spraying area by means of the binocular vision sensor or distance sensor while moving along the data collection path; At least one spraying drone, the spraying drone including at least a spray head, the spraying drone being used to move along a spraying path and spray pesticide solution onto plants in the target spraying area through the spray head while moving along the spraying path; A control terminal, the control terminal being used to control at least one of the collection drones and at least one of the spraying drones according to the intelligent spraying method described above.

[0014] This application also provides an intelligent spraying system for agricultural drones that adapts to terrain, the intelligent spraying system comprising: At least one data collection drone, the data collection drone including at least a binocular vision sensor or a distance sensor, the data collection drone being used to move along a data collection path and to collect plant data of the target spraying area by means of the binocular vision sensor or distance sensor while moving along the data collection path; At least one spraying drone, the spraying drone including at least a spray head, the spraying drone being used to move along a spraying path and spray pesticide solution onto plants in the target spraying area through the spray head while moving along the spraying path; A control terminal, the control terminal being used to control at least one of the collection drones and at least one of the spraying drones according to the intelligent spraying method described above; The spraying drone also includes a drone body, a pesticide tank, and a water pump. The drone body includes six cantilever arms, four of which are symmetrically distributed on the left and right sides of the drone body, and the remaining two cantilever arms are symmetrically distributed on the front and rear sides of the drone body. The four cantilever arms on the left and right sides are respectively provided with first blades, and the two cantilever arms on the front and rear sides are respectively provided with second blades. During operation, the rotational speed of the second blades is less than that of the first blades. The spray head is provided on each of the four cantilever arms on the left and right sides. The medicine tank is detachably mounted on the drone body and is used to store the medicine solution; The water pump is fixedly installed on the drone body. The water pump is connected to the spray head and the medicine tank through water pipes. It is used to pressurize and deliver the medicine in the medicine tank to the spray head so that the spray head can spray the medicine.

[0015] In some embodiments, the spray head includes a first nozzle and a second nozzle, and at least one first nozzle and at least one second nozzle are respectively provided on each of the cantilever arms on the left and right sides. The opening of the first nozzle faces downward, and the opening of the second nozzle points towards the drone body.

[0016] Positive and beneficial effects: According to the above-described embodiments of the intelligent spraying method and system for plant protection drones that adapt to terrain, by collecting the upper contour data of plants in the target spraying area from the drone, the spraying path of the drone is set based on the upper contour data. This allows the drone to get as close as possible to the plant surface during pesticide spraying, thereby reducing or even avoiding the diffusion of sprayed pesticides into the air, improving pesticide utilization, and requiring less pesticide to be sprayed, thus reducing the adverse environmental impact of pesticides. Attached Figure Description

[0017] Figure 1 A flowchart (I) of the intelligent spraying method for agricultural drones with adaptive terrain provided in the embodiments of this application. Figure 2 Flowchart (II) of the intelligent spraying method for agricultural drones with adaptive terrain provided in the embodiments of this application. Figure 3 A schematic diagram of the structure of the intelligent spraying system for agricultural drones with adaptive terrain provided in the embodiments of this application; Figure 4 A schematic diagram of the structure of the intelligent spraying system for agricultural drones with adaptive terrain provided in this application (I). Figure 5 A schematic diagram of the structure of the intelligent spraying system for agricultural drones with adaptive terrain provided in this application (II). Figure 6 This is a schematic diagram of the pesticide tank and water pipe structure of the intelligent spraying system for agricultural drones that adapts to terrain, as provided in an embodiment of this application.

[0018] In the diagram: 1. Control terminal; 2. Target spraying area; 3. Plant; 4. Spraying drone; 5. Collection drone; 7. Spraying range; 8. Collection range; 401. Drone body; 402. First blade; 403. Second blade; 404. Chemical tank; 405. Water pump; 406. First nozzle; 407. Second nozzle; 408. Solenoid valve; 409. Main water inlet pipe; 410. Branch water pipe. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0020] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0021] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0022] Please refer to Figure 1 To address the issues of low pesticide utilization, large pesticide spraying volume, and significant environmental impact caused by current agricultural drones, this application provides an intelligent spraying method for agricultural drones that adapts to terrain. The spraying method includes the following steps: Step S101: Provide a target spraying area.

[0023] In some embodiments, the target spraying area can be flat farmland, orchards or woodlands, or farmland, orchards or woodlands in mountainous or hilly terrain.

[0024] Step S102: Determine the collection path of the collection drone, and collect plant data of the target spraying area as the collection drone moves along the collection path. The collection drone includes at least a binocular vision sensor or a distance sensor. After the collection drone completes its collection along the collection path, the cumulative collection range of the binocular vision sensor or the distance sensor covers the entire target spraying area.

[0025] In some embodiments, determining the acquisition path of an image acquisition drone can be achieved through the following steps: First, based on the geographical information of the target spraying area, such as the shape, size, and topography of the farmland, plan one or more paths that cover the entire target spraying area. Straight paths, curved paths, or combinations of paths can be used to ensure that the cumulative data collection range of the visual sensors of the data acquisition drone covers the entire target spraying area after completing the path.

[0026] Secondly, based on the drone's performance parameters, such as speed, range, and payload, the optimal flight altitude and speed are calculated to ensure that the drone can complete the data collection task within the specified time without malfunctioning.

[0027] Then, the planned path and performance parameters are input into the drone's control system, and key points such as the starting point, ending point, and waypoints, as well as action commands such as turning, ascending, and descending, are set.

[0028] Finally, the drone is launched and guided along a pre-planned path, using visual sensors to collect real-time image data of the target spraying area. During flight, the drone needs to adaptively adjust based on real-time environmental changes and sensor data to ensure the quality and integrity of the acquired image data.

[0029] Step S103: Obtain the upper contour data of the plant based on the plant data.

[0030] In some embodiments, the acquisition drone includes a binocular vision sensor; while the acquisition drone moves along the acquisition path, it acquires plant image data of the target spraying area through the binocular vision sensor; the step of obtaining the upper contour data of the plant based on the plant data includes: constructing a three-dimensional model of the farmland about the target spraying area based on the plant image data; and obtaining the upper contour data of the plant based on the three-dimensional model of the farmland.

[0031] In some embodiments, when acquiring plant image data of the target spraying area using a binocular vision sensor, firstly, the binocular vision sensor mounted on a drone acquires plant image data of the target spraying area as the drone moves along a preset acquisition path. Next, the acquired binocular images are processed using a stereo matching algorithm to calculate disparity, thereby generating depth information, i.e., the relative distance between the drone and the plant surface. The obtained depth information is combined with a color image to construct a three-dimensional model of the farmland. Using computer vision techniques such as image segmentation and edge detection, the three-dimensional contour information of the plants, especially the contour data of the upper part of the plants, is extracted.

[0032] In some embodiments, the data acquisition drone includes a distance sensor; as the data acquisition drone moves along the acquisition path, it acquires plant spatial data of the target spraying area through the distance sensor. The step of obtaining the upper contour data of the plant based on the plant data includes: as the data acquisition drone moves along the acquisition path, it acquires the distance value between the drone and the plant below in real time through the distance sensor, and records the acquisition path position corresponding to the acquisition of the distance value; and it acquires the upper contour data of the plant based on the corresponding distance value and the acquisition path position.

[0033] In some embodiments, when collecting plant spatial data of the target spraying area using distance sensors, the distance sensor measures the distance between the drone and the plants below in real time as the drone moves along the collection path, and records the drone's position coordinates on the collection path at each measurement. Combining these distance values ​​and corresponding position information yields a spatial distribution map representing the changes in plant height. Based on this continuous spatial data, interpolation, fitting, and other methods can be used to reconstruct the contour curve of the upper part of the plant according to the trend of plant height changes, thereby obtaining the upper contour data of the plant.

[0034] Step S104: Determine the spraying path of the spraying drone based on the upper contour data of the plant. As the spraying drone moves along the spraying path, it sprays pesticide onto the plants in the target spraying area through the spray head. The spraying drone includes at least a spray head. When determining the spraying path, the vertical distance between the spraying path and the upper contour of the plant is a preset distance. After the spraying drone completes spraying along the spraying path, the cumulative spraying range of the spray head covers the entire target spraying area.

[0035] In some embodiments, determining the spraying path of the spraying drone based on the upper contour data of the plant includes: obtaining the plant height and distribution at different locations in the target spraying area based on the upper contour data of the plant; and determining the spraying path of the spraying drone based on the plant height at different locations in the target spraying area, so that the spraying head of the spraying drone maintains a preset distance from the upper contour of the plant.

[0036] In some embodiments, the flight altitude of the spraying drone is determined based on a crop height model, ensuring that the spraying range of the spray nozzles aligns with the top of the crop canopy. Factors such as wind direction and speed are also considered, and the spray angle is adjusted accordingly to ensure that pesticide droplets are evenly distributed on the crops. The drone's autonomous navigation and spraying control systems ensure that it flies strictly along the planned spraying path, and that the cumulative spraying range of the spray nozzles completely covers the crops in the target spraying area upon completion of the spraying operation.

[0037] Please refer to Figure 2 In some embodiments, determining the acquisition path of the acquisition drone in step S102 specifically includes the following steps: Step S201: Obtain the minimum bounding rectangle of the target spraying area; the minimum bounding rectangle is the smallest rectangle that completely contains the target spraying area.

[0038] Step S202: Obtain the position information of the projection points of the four vertices of the minimum bounding rectangle on the ground, and determine the tilt angle of at least one first path based on the position information.

[0039] Step S203: Obtain the plant height in the target spraying area and determine the safe altitude of the data collection drone based on the plant height.

[0040] Step S204: Starting from one of the projection points and ending at the projection point diagonally opposite to that projection point, keep the data collection drone at a safe altitude above the ground and traverse all the first paths in sequence to determine the data collection path of the data collection drone.

[0041] In some embodiments, determining the tilt angle of at least one first path based on location information can be achieved by the following methods: First, taking one of the projection points as the starting point and the diagonal projection point as the ending point, obtain the first line connecting the starting point and the adjacent projection point on the first side, obtain the second line connecting the starting point and the adjacent projection point on the second side, obtain the third line connecting the adjacent projection point on the first side and the ending point, and obtain the fourth line connecting the adjacent projection point on the second side and the ending point.

[0042] Secondly, divide both the first and fourth lines into at least two segments at equal intervals, and obtain at least one set of dividing points on the first and fourth lines respectively.

[0043] Third, obtain at least one first path; wherein, at least one first path includes a second connection, a third connection, and a connection between each set of dividing points.

[0044] In some embodiments, the spraying path includes at least one second path, and the widths of the different second paths are equal. The width of the second path is L, and the preset distance H satisfies: ; Where θ is the maximum spray angle of the spray head, and L is the width of the second path.

[0045] Please refer to Figure 3 This application also provides an intelligent spraying system for agricultural drones that adapts to terrain. The intelligent spraying system includes at least one data collection drone 5, at least one spraying drone 4, and a control terminal 1, which will be analyzed in detail below.

[0046] At least one data collection drone 5, comprising at least a binocular vision sensor or a distance sensor, is used to move along a data collection path and collect plant 3 data of the target spraying area 2 using the binocular vision sensor or the distance sensor while moving along the data collection path. After the data collection drone 5 completes its data collection along the data collection path, the cumulative data collection range 8 of the binocular vision sensor or the distance sensor covers the entire target spraying area 2.

[0047] At least one spraying drone 4, the spraying drone 4 including at least a spray head, the spraying drone 4 being used to move along a spraying path and spray pesticide solution onto the plants 3 of the target spraying area 2 through the spray head while moving along the spraying path. After the spraying drone 4 has completed spraying along the spraying path, the cumulative spraying range 7 of the spray head covers the entire target spraying area 2.

[0048] Control terminal 1, the control terminal 1 is used to control at least one of the collection drones 5 and at least one of the spraying drones 4 in accordance with the intelligent spraying method described above.

[0049] In some embodiments, the control terminal 1 is mobile or portable, such as a vehicle-mounted server, mobile phone, portable computer, etc.

[0050] In the intelligent spraying method used in this embodiment, the spraying path includes at least one second path, and the widths of the different second paths are equal. The width of the second path is L, and the preset distance H satisfies: ; Where θ is the maximum spray angle of the spray head, and L is the width of the second path.

[0051] Please refer to Figure 3 This application also provides an intelligent spraying system for agricultural drones that adapts to terrain. The intelligent spraying system includes at least one data collection drone 5, at least one spraying drone 4, and a control terminal 1, which will be analyzed in detail below.

[0052] At least one data collection drone 5, comprising at least a binocular vision sensor or a distance sensor, is used to move along a data collection path and collect plant 3 data of the target spraying area 2 using the binocular vision sensor or the distance sensor while moving along the data collection path. After the data collection drone 5 completes its data collection along the data collection path, the cumulative data collection range 8 of the binocular vision sensor or the distance sensor covers the entire target spraying area 2.

[0053] At least one spraying drone 4, the spraying drone 4 including at least a spray head, the spraying drone 4 being used to move along a spraying path and spray pesticide solution onto the plants 3 of the target spraying area 2 through the spray head while moving along the spraying path. After the spraying drone 4 has completed spraying along the spraying path, the cumulative spraying range 7 of the spray head covers the entire target spraying area 2.

[0054] Control terminal 1, the control terminal 1 is used to control at least one of the collection drones 5 and at least one of the spraying drones 4 in accordance with the intelligent spraying method described above.

[0055] Please refer to Figure 4 , Figure 5 and Figure 6The spraying drone 4 also includes a drone body 401, a pesticide tank 404, and a water pump 405. The drone body 401 includes six cantilever arms, four of which are symmetrically distributed on the left and right sides of the drone body 401, and the remaining two cantilever arms are symmetrically distributed on the front and rear sides of the drone body 401. The four cantilever arms on the left and right sides are respectively provided with first blades 402, and the two cantilever arms on the front and rear sides are respectively provided with second blades 403. During operation, the rotational speed of the second blades 403 is less than that of the first blades 402. Each of the four cantilever arms on the left and right sides is provided with a spray head. The pesticide tank 404 is detachably installed on the drone body 401 and is used to store pesticide solution. The water pump 405 is fixedly installed on the drone body 401 and is connected to the spray head and the pesticide tank 404 through water pipes. It is used to pressurize and deliver the pesticide solution in the pesticide tank 404 to the spray head so that the spray head sprays the pesticide solution.

[0056] During operation, the rotation speed of the second blade 403 is lower than that of the first blade 402, which can reduce the blowing effect of the blade on the plant 3 in the middle of the spraying path and prevent the liquid from being blown away.

[0057] In some embodiments, the spray head includes a first nozzle 406 and a second nozzle 407. At least one first nozzle 406 and at least one second nozzle 407 are respectively provided on each of the cantilever arms on the left and right sides. The opening of the first nozzle 406 faces downward, and the opening of the second nozzle 407 points towards the drone body 401.

[0058] In the intelligent spraying method used in this embodiment, the spraying path includes at least one second path, and the widths of the different second paths are equal. The width of the second path is L, and the preset distance H satisfies: ; Where θ is the maximum spray angle of the spray head, L is the width of the second path, and l is the distance between the first spray heads 406 on the two symmetrical cantilever arms.

[0059] In some embodiments, the output end of the medicine tank 404 is provided with a main water inlet pipe 409, and four branch pipes are provided on the main water inlet pipe 409. Each of the four branch pipes is connected to a solenoid valve 408. Each solenoid valve 408 is connected to the four cantilevered spray heads on the left and right sides through a water supply branch pipe 410.

[0060] In some embodiments, a battery is provided on the drone body 401, which provides power to the water pump 405, the solenoid valve 408, and the drone body 401.

[0061] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0062] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A terrain-adaptive intelligent spraying method for agricultural drones, characterized in that, The intelligent spraying method includes: Provide a target spraying area; The collection path of the collection drone is determined, and the collection drone collects plant data of the target spraying area as it moves along the collection path; wherein, the collection drone includes at least a binocular vision sensor or a distance sensor, and after the collection drone completes the collection along the collection path, the cumulative collection range of the binocular vision sensor or the distance sensor covers the entire target spraying area; Obtain the upper outline data of the plant based on the plant data; The spraying path of the spraying drone is determined based on the upper contour data of the plant. As the drone moves along the spraying path, it sprays pesticide solution onto the plants in the target spraying area through the spray nozzle. The spraying drone includes at least a spray nozzle, a drone body, a pesticide tank, and a water pump. The drone body includes six cantilever arms, four of which are symmetrically distributed on the left and right sides of the drone body, and the remaining two cantilever arms are symmetrically distributed on the front and rear sides of the drone body. The four cantilever arms on the left and right sides are each equipped with a first blade, and the two cantilever arms on the front and rear sides are each equipped with a second blade. During operation... The second blade rotates at a speed less than the first blade; each of the four cantilever arms on the left and right sides is equipped with a spray head; each spray head includes a first spray head and a second spray head, and each of the cantilever arms on the left and right sides is equipped with at least one first spray head and at least one second spray head, with the opening of the first spray head facing downwards and the opening of the second spray head pointing towards the drone body; when determining the spraying path of the spraying drone, the vertical distance between the spraying path and the upper outline of the plant is a preset distance; after the spraying drone completes spraying along the spraying path, the cumulative spraying range of the spray head covers the entire target spraying area; The process of determining the spraying path of the spraying drone based on the upper contour data of the plant includes: Based on the upper contour data of the plant, obtain the plant height and distribution at different locations in the target spraying area; Based on the plant height at different locations in the target spraying area, determine the spraying path of the spraying drone so that the spraying head of the spraying drone maintains a preset distance from the upper contour of the plant. The spraying path includes at least one second path, and the widths of different second paths are equal. Then the preset distance H satisfies the following: ； Where θ is the maximum spray angle of the spray head, and L is the width of the second path; Determining the data collection path of the drone includes: Obtain the minimum bounding rectangle of the target spraying area; the minimum bounding rectangle is the smallest rectangle that completely contains the target spraying area; Obtain the position information of the projection points of the four vertices of the minimum bounding rectangle on the ground, and determine the tilt angle of at least one first path based on the position information; Obtain the plant height in the target spraying area and determine the safe ground clearance of the data collection drone based on the plant height; Starting from one of the projection points and ending at the projection point diagonally opposite to that projection point, the data collection drone maintains a safe altitude above the ground and traverses all the first paths in sequence to determine the data collection path of the drone.

2. The intelligent spraying method for agricultural drones adapting to terrain as described in claim 1, characterized in that, Determining the tilt angle of at least one first path based on location information includes: Starting from one of the projection points and ending at the diagonal projection points, obtain the first line connecting the starting point and the adjacent projection point on the first side, obtain the second line connecting the starting point and the adjacent projection point on the second side, obtain the third line connecting the adjacent projection point on the first side and the ending point, and obtain the fourth line connecting the adjacent projection point on the second side and the ending point. Divide the first line and the fourth line into at least two segments at equal intervals, and obtain at least one set of dividing points on the first line and the fourth line respectively; Obtain at least one first path; wherein the at least one first path includes a second connection, a third connection, and a connection between each set of dividing points.

3. The intelligent spraying method for agricultural drones with adaptive terrain as described in claim 1, characterized in that, The data acquisition drone includes a binocular vision sensor; as the data acquisition drone moves along the acquisition path, it acquires plant image data of the target spraying area through the binocular vision sensor. The step of obtaining the upper contour data of the plant based on the plant data includes: A 3D model of the farmland in the target spraying area was constructed based on plant image data. Data on the upper contour of the plants were obtained from a 3D model of the farmland.

4. The intelligent spraying method for agricultural drones adapting to terrain as described in claim 1, characterized in that, The data acquisition drone includes a distance sensor; as the acquisition drone moves along the acquisition path, it acquires plant spatial data of the target spraying area through the distance sensor, and the step of obtaining the upper contour data of the plant based on the plant data includes: As the drone moves along the collection path, the distance sensor acquires the distance between the drone and the plants below in real time, and records the location of the collection path corresponding to the acquisition of the distance value. Based on the corresponding distance values ​​and the location of the acquisition path, the upper contour data of the plant is obtained.

5. A terrain-adaptive intelligent spraying system for agricultural drones, characterized in that, The intelligent spraying system includes: At least one data collection drone, the data collection drone including at least a binocular vision sensor or a distance sensor, the data collection drone being used to move along a data collection path and to collect plant data of the target spraying area by means of the binocular vision sensor or distance sensor while moving along the data collection path; At least one spraying drone, the spraying drone including at least a spray head, the spraying drone being used to move along a spraying path and spray pesticide solution onto plants in the target spraying area through the spray head while moving along the spraying path; A control terminal, the control terminal being used to control at least one of the data collection drones and at least one of the spraying drones according to the intelligent spraying method as described in any one of claims 1-4.

6. A terrain-adaptive intelligent spraying system for agricultural drones, characterized in that, The intelligent spraying system includes: At least one data collection drone, the data collection drone including at least a binocular vision sensor or a distance sensor, the data collection drone being used to move along a data collection path and to collect plant data of the target spraying area by means of the binocular vision sensor or distance sensor while moving along the data collection path; At least one spraying drone, the spraying drone including at least a spray head, the spraying drone being used to move along a spraying path and spray pesticide solution onto plants in the target spraying area through the spray head while moving along the spraying path; A control terminal, the control terminal being used to control at least one of the data collection drones and at least one of the spraying drones according to the intelligent spraying method as described in any one of claims 1-4; The spraying drone also includes a drone body, a pesticide tank, and a water pump. The drone body includes six cantilever arms, four of which are symmetrically distributed on the left and right sides of the drone body, and the remaining two cantilever arms are symmetrically distributed on the front and rear sides of the drone body. The four cantilever arms on the left and right sides are respectively provided with first blades, and the two cantilever arms on the front and rear sides are respectively provided with second blades. During operation, the rotational speed of the second blades is less than that of the first blades. The spray head is provided on each of the four cantilever arms on the left and right sides. The medicine tank is detachably mounted on the drone body and is used to store the medicine solution; The water pump is fixedly installed on the drone body. The water pump is connected to the spray head and the medicine tank through water pipes. It is used to pressurize and deliver the medicine in the medicine tank to the spray head so that the spray head can spray the medicine.

7. The intelligent spraying system for agricultural drones with adaptive terrain as described in claim 6, characterized in that, The spray head includes a first nozzle and a second nozzle. At least one first nozzle and at least one second nozzle are respectively provided on each of the cantilever arms on the left and right sides. The opening of the first nozzle faces downward, and the opening of the second nozzle points towards the drone body.

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