An unmanned aerial vehicle aerial defense adaptive regulation system and method based on environment perception

Abstract

The present application relates to the technical field of unmanned aerial vehicle spraying control, and discloses an unmanned aerial vehicle aerial spraying self-adaptive regulation and control system and method based on environment sensing. The present application determines the environment state, canopy demand and current spraying configuration by collecting environment data, canopy data and unmanned aerial vehicle flight data, and determines the target total spraying flow according to the effective spraying width, unit area target pesticide application amount and flight speed. The target spraying flow of the two spraying channels is determined according to the centrifugal spraying channel allowable interval, pressure spraying channel allowable interval and double-channel basic spraying proportioning. The two spraying channels are respectively subjected to feedback regulation of the channel; when a single spraying channel forms a continuous execution gap and the system has a net gap, the cross-channel redistribution flow is determined according to the replaceable spraying share, the remaining allowable spraying flow of the receiving channel and the system net gap, and the subsequent spraying state is adjusted according to the actual flow reacquired.

Description

Technical Field

[0001] This invention relates to the field of agricultural drone spraying control technology, and in particular to an adaptive control system and method for drone spraying based on environmental perception. Background Technology

[0002] With the increasing application of agricultural drones in crop pest and disease control, the drone spraying process is gradually evolving from fixed flight and spraying parameters to dynamic adjustments based on environmental conditions and crop status. During drone operations, wind speed, temperature, humidity, flight altitude, flight speed, and crop canopy conditions all affect droplet movement, spray coverage, and pesticide distribution. Therefore, adjusting flight and spraying parameters according to the operating environment and crop status has become a crucial technical direction for drone-based pest control.

[0003] There are already publicly available technologies for adjusting dosing parameters based on environmental information and flight status, for example: Application publication number: CN108536203A, discloses "A Method and System for Controlling Unmanned Aerial Vehicle (UAV) Spraying". This scheme collects information such as wind speed, wind direction, temperature, humidity, light intensity, and the UAV's flight speed, altitude, and attitude. It then adjusts the pressure pump control voltage, nozzle flow rate, nozzle rotation angle, and flight and droplet-related parameters through a preset model. The key control point of this scheme is to correct spraying parameters based on changes in the environment and flight status. For situations where nozzles with different atomization methods share the spraying task, in addition to the correspondence between environmental information and each spraying parameter, it also involves the coordination between the actual output of different nozzles and the overall spraying task. Determining each spraying parameter individually cannot directly reflect the liquid output matching status between different spraying channels.

[0004] In terms of combining crop and meteorological information for operational decision-making, there are already multi-source information fusion technologies, such as: Authorization Announcement No.: CN108594856B, disclosing the "Multi-Source Information Fusion Intelligent Decision-Making Autonomous Flight Plant Protection Unmanned Aerial Vehicle and Control Method". This scheme acquires crop growth, crop height, canopy, meteorological, and flight information through a hyperspectral camera, airborne radar, image acquisition device, and meteorological acquisition system to establish a field information database and further determine control parameters such as flight altitude, flight speed, pesticide pump flow rate, and nozzle motor speed. This scheme incorporates crop status and meteorological information into flight and pesticide application decisions, with the control focus on forming corresponding operational parameters through multi-source information. For spraying systems configured with nozzles of different atomization mechanisms, it is still necessary to consider the differences in the impact of the same operating conditions on different nozzles, as well as the actual liquid output relationship when different nozzles operate together.

[0005] Regarding the combination and configuration of different types of nozzles, there are already technical solutions that integrate centrifugal nozzles and pressure nozzles on the same agricultural drone, for example: Authorization announcement number: CN109677615B, discloses "A Plant Protection Drone". This solution uses centrifugal nozzles and pressure nozzles, controlling both types of nozzles through different liquid supply pipelines and solenoid valves, and changing the nozzle positions via a rotating mechanism. The disclosed implementation includes allowing the centrifugal and pressure nozzles to operate independently based on crop conditions, as well as switching between different operating modes. This solution provides a structural basis for configuring different atomization methods on the same plant protection drone, but the nozzle combination configuration and operating mode switching mainly address the nozzle selection problem under different operational needs. When both types of nozzles participate in spraying operations, the selection of nozzle type or operating mode switching cannot directly reflect the actual output state of each spraying channel; when environmental conditions, crop canopy conditions, and liquid supply conditions change simultaneously, the liquid output state of the two types of nozzles may still be mismatched with the current operational conditions.

[0006] Regarding variable spraying decision-making and actual flow feedback, there are already technical solutions that combine model-based decision-making with closed-loop control, for example: Authorization Announcement No.: CN109122633B, disclosing "Precision Variable Spraying Device and Control Method for Agricultural Drones Based on Neural Network Decision-Making." This scheme collects environmental parameters, flight parameters, positioning information, and hyperspectral information, and combines this with the pesticide application prescription and drone specifications to make variable spraying decisions. After determining the target spraying rate, it generates control signals based on the deviations between the actual flow rate and pressure values ​​and the target values, and adjusts the liquid pump through a closed-loop PID algorithm. This scheme covers target spraying rate generation, actual flow rate and pressure feedback, and closed-loop regulation of the spraying flow rate.

[0007] The flow sensor and pressure sensor disclosed in CN109122633B are installed before the branch pipelines. The liquid pesticide enters the main circuit after passing through the flow sensor and pressure sensor, and is then delivered to the nozzles through multiple branch pipes. Therefore, the data obtained by the flow sensor and pressure sensor mainly reflects the overall liquid supply status of the main circuit. The actual liquid output of each spraying branch cannot be directly determined based solely on the main circuit flow and pressure. When different branch pipelines are affected by changes in pipeline resistance, partial blockage of the nozzles, or differences in the response of the actuators, even if the main circuit flow or overall spray volume is close to the predetermined value, inconsistencies in liquid output may still exist between different spraying branches.

[0008] As can be seen from the publicly available solutions, there is already a corresponding technological foundation for environmental perception, crop information collection, spraying parameter adjustment, and spraying flow feedback. However, when centrifugal nozzles and pressure nozzles participate in drone spraying operations, the two types of nozzles differ in atomization methods, liquid supply status, and spray characteristics. Furthermore, changes in environmental conditions, crop canopy status, and flight status also have varying impacts on the two types of nozzles. Therefore, simply generating spraying parameters based on environmental information, selecting nozzle types based on crop status, or adjusting based on total loop flow cannot fully reflect the actual output status of different spraying channels operating simultaneously.

[0009] Based on the above-mentioned publicly available information and the working conditions of heterogeneous nozzles operating together, the existing technology still has the following problems: First, changes in environmental conditions and crop canopy conditions can simultaneously affect spraying operations, but the two types of nozzles have different adaptations to these conditions. When environmental conditions, canopy conditions, and drone flight conditions change, it is difficult to maintain the liquid output from the two types of spraying channels in a way that matches the current operating conditions, whether by using a fixed spraying ratio, a pre-selected nozzle operating mode, or generating spraying parameters separately.

[0010] Second, the overall liquid supply status of the spraying system is not the same as the actual liquid output status of each individual spraying channel. Even when the main circuit flow rate or the overall spraying flow rate is within the expected range, different spraying branches may still exhibit inconsistent liquid output due to differences in pipeline resistance, nozzle condition, or actuator components. Furthermore, when a single spraying channel experiences flow rate changes, the overall spraying status cannot be judged solely based on the local deviation of that channel. Therefore, during the operation of multiple spraying channels, simply adjusting the overall circuit feedback or the independent adjustments of each spraying channel is insufficient to fully reflect the actual liquid output relationship between different spraying channels.

[0011] Third, during spraying operations, changes in liquid supply capacity, increased pipeline resistance, partial blockage of nozzles, or deviations in the response of actuators may cause the actual output of a single spraying channel to continuously deviate from the original spraying target. When the corresponding spraying channel cannot restore the predetermined output after self-adjustment, further increasing the control input of the original spraying channel may be limited by the current liquid supply status or actuator capacity, while directly changing the liquid output of another type of nozzle will change the original liquid output relationship between the two types of spraying channels. How to coordinate the subsequent spraying status of different spraying channels under such continuous output deviation still needs further research. Summary of the Invention

[0012] Given that existing technologies have problems such as difficulty in adapting the spray volume distribution of centrifugal spraying channels and pressure spraying channels to the current operating conditions when environmental conditions, crop canopy status and spraying execution status change together, and difficulty in balancing the channel working boundary and the overall spray volume requirements after a single spraying channel has a continuous output deviation, this invention proposes an environmental perception-based UAV flight spraying adaptive control system and method.

[0013] The purpose of this invention is to determine the target spraying flow rate of two spraying channels based on environmental conditions, canopy requirements, and UAV flight status, and to perform a constrained cross-channel redistribution of the continuous execution gap based on the actual output of the two spraying channels after adjustment by this channel, so that the spraying volume distribution corresponds to the current operating conditions, reducing the imbalance of liquid output between channels and the deviation of the actual spraying flow rate from the target spraying flow rate.

[0014] This invention provides an adaptive control method for drone flight defense based on environmental perception, comprising: S1: Collects environmental data, canopy data, and UAV flight data; obtains environmental status from environmental data and canopy requirements from canopy data; reads the target pesticide application rate per unit area set in the operation task; and obtains flight speed from UAV flight data.

[0015] S2: Determine the current spray configuration based on environmental conditions and canopy requirements. The current spray configuration includes flight altitude and spray attitude of the two spray channels; read the effective spray width corresponding to the current spray configuration.

[0016] S3: Determine the target total spray flow rate based on the target application rate per unit area, flight speed, and effective spray width; obtain the allowable range of the centrifugal spray channel based on the environmental conditions and current spray configuration, and obtain the allowable range of the pressure spray channel based on the canopy requirements and current spray configuration; read the dual-channel basic spray ratio corresponding to the environmental conditions, canopy requirements, and current spray configuration, and determine the basic target spray flow rate of the pressure spray channel based on the dual-channel basic spray ratio and the target total spray flow rate.

[0017] S4: Based on the target total spraying flow rate and the allowable intervals of the two spraying channels, a feasible interval for the pressure spraying channel is formed. When a feasible interval for the pressure spraying channel exists, if the basic target spraying flow rate of the pressure spraying channel is within the feasible interval, the basic target spraying flow rate of the pressure spraying channel is maintained. If it is lower than the lower limit of the feasible interval, the lower limit of the feasible interval is adopted. If it is higher than the upper limit of the feasible interval, the upper limit of the feasible interval is adopted to obtain the target spraying flow rate of the pressure spraying channel. The difference between the target total spraying flow rate and the target spraying flow rate of the pressure spraying channel is used as the target spraying flow rate of the centrifugal spraying channel.

[0018] S5: After obtaining two target spray flow rates, adjust the two spray channels according to the target spray flow rates of the centrifugal spray channel and the pressure spray channel respectively; obtain the actual flow rates of the two spray channels respectively, and adjust the channel according to the deviation between the actual flow rate of each channel and the corresponding target spray flow rate to obtain the continuous actual flow rate of the two spray channels after adjustment.

[0019] S6: For spraying channels where the actual flow rate after adjustment is still lower than the corresponding target spraying flow rate and the deviation exceeds the preset channel allowable deviation, the difference between the target spraying flow rate and the continuous actual flow rate exceeding the channel allowable deviation is determined as the continuous execution gap; the non-negative difference obtained by subtracting the sum of the continuous actual flow rates of the two spraying channels and the preset total flow allowable deviation from the target total spraying flow rate is determined as the system net gap.

[0020] S7: When there is a continuous execution gap in only one spraying channel, and the continuous actual flow rates of both spraying channels are within the corresponding allowable ranges and the system net gap is greater than zero, the spraying channel with the continuous execution gap is identified as the gap channel, and the other spraying channel is identified as the receiving channel; the smaller value is selected from the continuous execution gap and the portion of the gap channel's target spraying flow rate exceeding the lower limit of the corresponding allowable range to determine the substitutable spraying share; the non-negative difference between the upper limit of the receiving channel's allowable range and the receiving channel's continuous actual flow rate, and the non-negative difference between the upper limit of the receiving channel's allowable range and the receiving channel's target spraying flow rate before redistribution are calculated to obtain two margins, and the smaller value is selected from the two margins to determine the remaining allowable spraying flow rate of the receiving channel.

[0021] S8: Select the minimum value from the alternative spraying share, the remaining allowable spraying flow in the receiving channel, and the net gap in the system to determine the cross-channel redistribution flow; when the cross-channel redistribution flow is greater than zero, reduce the target spraying flow in the gap channel by the cross-channel redistribution flow, and increase the target spraying flow in the receiving channel by the same amount of cross-channel redistribution flow.

[0022] S9: When the cross-channel redistribution flow is greater than zero, adjust the two spray channels according to the updated two target spray flows, obtain the actual flow of the two spray channels after adjustment by this channel, redetermine the continuous execution gap and the system net gap according to the judgment rule of S6, and compare the relationship between the actual flow of the two spray channels and the corresponding allowable interval; when the cross-channel redistribution flow is zero and the system net gap is still greater than zero, do not adjust the target spray flows of the two spray channels, and enter the process of determining the current sustainable output flow and re-judging the spray capacity, spray configuration and flight speed.

[0023] The current spray flow allocation, the execution of the two spray channels, and the cross-channel redistribution all adopt the effective spray width and the allowable range of the two spray channels corresponding to the current spray configuration.

[0024] Furthermore, in S1, the environmental data includes wind speed and temperature. The continuous wind speed sampling values ​​within the preset sampling window are subjected to averaging, median processing, or outlier removal. Based on the processed wind speed and temperature data, the environmental level parameter data is queried to obtain the environmental status.

[0025] When collecting humidity data, the humidity data, along with the processed wind speed and temperature data, are used as query conditions for environmental level parameter data.

[0026] Furthermore, in S1, the canopy data includes multispectral image data. Canopy coverage, reproductive stage, or preset canopy features are extracted from the multispectral image data. Based on the extraction results, canopy demand parameter data is queried to obtain the canopy demand.

[0027] Furthermore, in S2, based on the environmental conditions and canopy requirements, the spray configuration parameter data is queried, the flight altitude setting, centrifugal nozzle angle setting, pressure nozzle angle setting, and centrifugal disc speed setting or the pre-calibrated centrifugal flow rate-speed combination setting are selected, and the effective spray width corresponding to the selected spray configuration is read.

[0028] The selected spray configuration remains unchanged within a control cycle; when the spray configuration changes, the current control cycle ends, the spray configuration is reselected in the next control cycle, the effective spray width is reread, and the allowable range of the two spray channels is redefined.

[0029] Furthermore, in S3, the flight speed is multiplied by the effective spray width to obtain the operational coverage area per unit time; the target total spray flow rate is determined based on the target pesticide application rate per unit area and the operational coverage area per unit time, and then uniformly converted into volumetric flow rate units.

[0030] Based on the basic load-bearing ratio of the pressure spray channel and the target total spray flow rate in the dual-channel basic spraying ratio, the basic target spray flow rate of the pressure spray channel is determined.

[0031] Furthermore, in S3, the pre-calibrated maximum continuous flow rate and pre-calibrated minimum continuous flow rate of each of the two spraying channels are read according to the current spraying configuration; the maximum allowable load ratio of the centrifugal spraying channel is read according to the environmental conditions and the current spraying configuration; and the minimum unit area load of the pressure spraying channel and the flow rate corresponding to the pre-calibrated lower pressure limit are read according to the canopy demand and the current spraying configuration.

[0032] The current allowable output flow rate of the centrifugal spraying channel is determined based on the maximum allowable carrying capacity of the centrifugal spraying channel and the target total spraying flow rate. The smaller value between the current allowable output flow rate and the pre-calibrated maximum continuous flow rate of the centrifugal spraying channel under the current spraying configuration is selected as the upper limit of the allowable range of the centrifugal spraying channel.

[0033] The larger value between the pre-calibrated minimum continuous flow rate of the centrifugal spraying channel and the preset minimum flow rate that the centrifugal spraying channel can handle is selected as the lower limit of the allowable range of the centrifugal spraying channel.

[0034] The minimum flow rate of the pressure spraying channel is determined based on the minimum unit area capacity, flight speed, and effective spray width.

[0035] The maximum value is selected from the minimum flow rate that the pressure spraying channel can handle, the minimum continuous flow rate pre-calibrated for the pressure spraying channel under the current spraying configuration, the canopy demand, and the flow rate corresponding to the pre-calibrated lower limit of the current spraying configuration, and is taken as the lower limit of the allowable range of the pressure spraying channel.

[0036] The maximum continuous flow rate pre-calibrated in the pressure spraying channel under the current spraying configuration is taken as the upper limit of the allowable range of the pressure spraying channel.

[0037] Furthermore, in S4, the larger value is selected from the difference between the lower limit of the allowable interval of the pressure spraying channel and the target total spraying flow minus the upper limit of the allowable interval of the centrifugal spraying channel to obtain the feasible lower limit of the pressure spraying channel.

[0038] The feasible upper limit of the pressure spraying channel is obtained by selecting the smaller value between the upper limit of the allowable interval of the pressure spraying channel and the difference between the target total spraying flow rate and the lower limit of the allowable interval of the centrifugal spraying channel.

[0039] If the lower bound of the pressure spraying channel is not higher than the upper bound of the pressure spraying channel, the feasible interval of the pressure spraying channel is determined to exist; if the lower bound of the pressure spraying channel is higher than the upper bound of the pressure spraying channel, the feasible spraying allocation for the current control cycle is determined to be non-existent.

[0040] The basic target spray flow rate of the pressure spray channel is denoted as... The feasible lower limit and feasible upper limit of the pressure spraying channel are respectively denoted as... and The target spray flow rate of the pressure spray channel is recorded as... .

[0041] When a feasible section of the pressure spraying channel exists, the target spraying flow rate of the pressure spraying channel is determined according to the following formula: Subtract the target total spray volume The difference obtained is determined as the target spraying flow rate of the centrifugal spraying channel.

[0042] In the formula, all flow rates use the same volumetric flow rate unit. This indicates taking the maximum value. This indicates taking the minimum value.

[0043] Furthermore, in S5 and S6, the instantaneous actual flow rates of the centrifugal spraying channel and the pressure spraying channel are collected respectively, and the corresponding window average actual flow rate is calculated according to the preset feedback window.

[0044] Before identifying a gap in continuous implementation, adjust the liquid supply, pump speed, valve opening, or spraying pressure in the corresponding spraying channel based on the deviation between the target spraying flow rate and the average actual flow rate of the window.

[0045] When the difference between the target spray flow rate and the average actual flow rate of a spraying channel is greater than the allowable deviation of the corresponding channel within a consecutive preset number of feedback windows, the positive difference obtained by subtracting the average actual flow rate of the window and the allowable deviation of the channel from the target spray flow rate in the current feedback window is recorded as the continuous execution gap.

[0046] Furthermore, in S6 to S8, the net gap in the system, the share of alternative spraying, and the remaining allowable spraying flow in the receiving channel are calculated using the window average actual flow rate within the corresponding feedback window.

[0047] When calculating the remaining allowable spraying flow rate of the receiving channel, the target spraying flow rate of the receiving channel is the target value before this redistribution.

[0048] The share of alternative spraying is recorded as The remaining allowable spraying flow rate of the receiving channel is recorded as The net gap of the system is denoted as Cross-channel redistribution traffic is denoted as The cross-channel redistribution traffic is determined according to the following formula: In the formula, all parameters use the same volumetric flow rate unit. Non-negative differences are determined according to the corresponding subtraction results, and are taken as zero when the subtraction result is less than zero.

[0049] When a pressure spraying channel alone has a continuous execution gap, the pressure spraying channel is used as the gap channel and the centrifugal spraying channel is used as the receiving channel; when a centrifugal spraying channel alone has a continuous execution gap, the centrifugal spraying channel is used as the gap channel and the pressure spraying channel is used as the receiving channel.

[0050] Both directions determine the cross-channel redistribution traffic according to S7 and S8.

[0051] When the cross-channel redistribution flow is greater than zero, S9 is re-executed and feedback is obtained; when the cross-channel redistribution flow is zero and the system net deficit is still greater than zero, the one-to-one decrease and one-to-increase of the target spray flow is not executed, and the process of determining the current sustainable output flow and re-judging spray capacity, spray configuration and flight speed is entered.

[0052] Furthermore, in S4, when the feasible range of the pressure spraying channel does not exist, the spraying flow allocation for the current control cycle is stopped, the two target spraying flows for this cycle are not generated, and the process of S5 to S8 with the target spraying flow for this cycle as input is not entered. Instead, the process of determining the current sustainable output flow and re-judging spraying capacity, spraying configuration and flight speed is entered.

[0053] Furthermore, after two target spraying flows exist and are generated within the feasible range of the pressure spraying channel, the continuous actual flow of the two spraying channels is processed into the window average actual flow according to the preset feedback window; based on the deviation between the window average actual flow and the corresponding target spraying flow during the continuous feedback process and the allowable deviation of the corresponding channel, it is determined whether there is a continuous execution gap in the two spraying channels.

[0054] When both spraying channels have a continuous execution gap, cross-channel redistribution is stopped.

[0055] When the average actual flow rate of any spraying channel window is lower than the lower limit of the corresponding allowable range, cross-channel redistribution is stopped.

[0056] When the average actual flow rate of any spraying channel window is higher than the upper limit of the corresponding allowable range, the flow control amount of the corresponding spraying channel is reduced, and cross-channel redistribution is stopped within the current feedback cycle.

[0057] If, after reducing the flow control amount of the corresponding spraying channel, the average actual flow rate of the window still fails to return to the corresponding allowable range within a preset number of feedback cycles, an execution abnormality is recorded for the corresponding spraying channel.

[0058] Furthermore, when there is no feasible range for the pressure spraying channel, there is a continuous execution gap in both spraying channels, the average actual flow rate of any spraying channel window is lower than the lower limit of the corresponding allowable range, the execution anomaly persists, or the cross-channel redistribution flow rate is zero and the system net gap is still greater than zero, the current sustainable output flow rate of the two spraying channels under the current spraying configuration is obtained respectively, and the flight speed is re-determined based on the sum of the two current sustainable output flow rates, the target dosage per unit area, and the effective spray width.

[0059] Furthermore, in S9, after adjusting according to the updated two target spray flow rates and obtaining the actual flow rate again, the system net gap is recalculated; if the system net gap is still greater than zero, the current sustainable output flow rate of the two spray channels under the current spray configuration is obtained respectively, and the flight speed is re-determined based on the sum of the two current sustainable output flow rates, the target amount of pesticide per unit area, and the effective spray width.

[0060] If the re-determined flight speed is lower than the preset minimum operating speed, the output of the pesticide solution in the current spraying section will be stopped.

[0061] When the re-determined flight speed is not lower than the preset minimum operating speed, the corresponding flight speed command is sent to the UAV flight control system. In the next control cycle, the spray configuration, effective spray width, target total spray flow rate, and allowable range of the two spray channels are re-determined, and the feasible range is re-evaluated.

[0062] If no feasible application allocation is found after recalculation, stop the output of the pesticide solution in the current application segment.

[0063] The present invention also provides an environmental perception-based drone-based adaptive control system for aerial spraying, including an agricultural drone, an environmental acquisition component, a canopy acquisition component, an edge controller, a parameter storage, a centrifugal spraying channel, and a pressure spraying channel.

[0064] The environmental acquisition component, canopy acquisition component, parameter storage and flight control of the plant protection drone are connected to the edge controller, and the centrifugal spraying channel and pressure spraying channel are connected to the edge controller.

[0065] The edge controller receives environmental data, canopy data, and UAV flight data to determine environmental conditions, canopy requirements, current spray configuration, effective spray width, target total spray flow, and allowable range for the two spray channels.

[0066] The edge controller reads the dual-channel basic spraying ratio corresponding to the environmental conditions, canopy requirements and the current spraying configuration from the parameter memory, determines the basic target spraying flow rate of the pressure spraying channel, and performs three-branch limiting on the basic target spraying flow rate of the pressure spraying channel according to the feasible range of the pressure spraying channel to form the target spraying flow rate of the pressure spraying channel.

[0067] The edge controller uses the difference between the target total spray flow rate and the target spray flow rate of the pressure spray channel to form the target spray flow rate of the centrifugal spray channel.

[0068] When the feasible range of the pressure spraying channel does not exist, the edge controller ends the spraying flow allocation of the current control cycle; after generating two target spraying flows, the edge controller adjusts the two spraying channels respectively, obtains the actual flow data of the two spraying channels respectively, and performs channel adjustment according to the deviation between the actual flow of each channel and the corresponding target spraying flow.

[0069] The edge controller determines the system net gap based on the target total spraying flow, the continuous actual flow of the two spraying channels, and the allowable deviation of the total flow; it determines the substitutable spraying share based on the continuous execution gap amount of the gap channel and the lower limit of the corresponding allowable interval; and it determines the remaining allowable spraying flow of the receiving channel based on the upper limit of the allowable interval of the receiving channel, the continuous actual flow of the receiving channel, and the target spraying flow before redistribution.

[0070] The edge controller calculates the non-negative difference between the upper limit of the allowable interval of the receiving channel and the continuous actual flow of the receiving channel, and the non-negative difference between the upper limit of the allowable interval of the receiving channel and the target spraying flow of the receiving channel before redistribution. The smaller value is selected from the two non-negative differences to form the remaining allowable spraying flow of the receiving channel.

[0071] The edge controller selects the minimum value from the alternative spray share, the remaining allowable spray flow in the receiving channel, and the system net gap to determine the cross-channel redistribution flow.

[0072] When the cross-channel redistribution flow is greater than zero, the edge controller reduces the target spray flow of the gap channel and increases the target spray flow of the receiving channel. The change in the spray flow of both targets is equal to the cross-channel redistribution flow, and the subsequent execution status is determined based on the actual flow that has been reacquired.

[0073] When the cross-channel redistribution flow is zero and the system net deficit is still greater than zero, the edge controller keeps the target spray flow of the two spray channels unchanged and enters the process of determining the current sustainable output flow and re-evaluating spray capacity, spray configuration and flight speed.

[0074] Furthermore, the centrifugal spraying channel includes a centrifugal nozzle, a centrifugal liquid supply regulator, a centrifugal flow rate acquisition device, a centrifugal disc drive device, and a rotation speed acquisition device; the pressure spraying channel includes a pressure nozzle, a pressure liquid supply regulator, a pressure flow rate acquisition device, and a pressure acquisition device.

[0075] The centrifugal flow acquisition unit sends the actual flow rate of the centrifugal spraying channel to the edge controller, the speed acquisition unit sends the centrifugal disc speed to the edge controller, the pressure flow acquisition unit sends the actual flow rate of the pressure spraying channel to the edge controller, and the pressure acquisition unit sends the spraying pressure to the edge controller.

[0076] Before making a cross-channel redistribution judgment, the edge controller adjusts the centrifugal liquid supply regulator according to the actual flow rate of the centrifugal spraying channel and adjusts the pressure liquid supply regulator according to the actual flow rate and spraying pressure of the pressure spraying channel.

[0077] Furthermore, the parameter memory stores the corresponding data between environmental conditions, spray configuration and the maximum allowable carrying ratio of the centrifugal spray channel, the corresponding data between canopy demand, spray configuration and the minimum unit area carrying capacity of the pressure spray channel, the corresponding data between spray configuration and effective spray width, and the corresponding data between environmental conditions, canopy demand, spray configuration and dual-channel basic spray ratio.

[0078] The parameter memory also stores the corresponding data between the spray configuration and the pre-calibrated maximum continuous flow and pre-calibrated minimum continuous flow of each of the two spray channels, stores the preset minimum flow rate of the centrifugal spray channel, stores the corresponding data between the canopy requirements, the spray configuration and the flow rate corresponding to the pre-calibrated lower pressure limit, and stores the channel allowable deviation of each of the two spray channels, as well as the total system flow allowable deviation.

[0079] The edge controller reads the corresponding parameters based on the current environmental conditions, canopy requirements, and spray configuration to determine the allowable range of the two spray channels, and reads the corresponding allowable deviation parameters during the actual flow feedback process.

[0080] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention introduces environmental conditions and canopy requirements into two different allowable ranges for spraying channels, and uses these two allowable ranges, along with the target total spraying flow rate, to determine the feasible allocation range. The basic target spraying flow rate remains unchanged within the feasible range; if it is below the lower limit of the feasible range, the lower limit is used; if it is above the upper limit, the upper limit is used. Given the existence of a feasible range, the determined dual-channel basic spraying ratio corresponds to a unique dual-channel target spraying flow rate, while ensuring that the sum of the two channel target spraying flows equals the target total spraying flow rate, reducing the mismatch between fixed spraying ratios and changing operating conditions.

[0081] 2. This invention distinguishes between a single-channel execution gap and the actual total system flow gap when a continuous execution gap still exists after channel adjustment, while simultaneously considering the lower limit of the allowable interval for the gap channel, the actual flow of the receiving channel, and the target spraying flow before redistribution. Cross-channel redistribution will not reduce the updated target spraying flow of the gap channel below the lower limit of the allowable interval, nor will it increase the updated target spraying flow of the receiving channel above the upper limit of the allowable interval; the system net gap participates in the redistribution amount calculation, avoiding the need to add spraying control amounts based solely on the local deviation of a single channel.

[0082] 3. This invention, by sequentially linking channel adjustment, cross-channel reallocation, and feedback of actual flow after re-execution, can distinguish between target spray flow updates and actual output recovery. When there is no remaining allowable spray volume in the receiving channel, a net system deficit remains after cross-channel reallocation, no feasible spray allocation exists, or the actual flow is continuously abnormal, the spray configuration and flight speed are further reassessed based on the current spray capacity, and the feasibility of the next control cycle is checked. This provides clear criteria for adjusting spray channel flow, flight status, and stopping spraying. Attached Figure Description

[0083] Figure 1 This is a schematic diagram of the UAV flight defense adaptive control system of the present invention; Figure 2 This is a flowchart of the UAV flight defense adaptive control method of the present invention; Figure 3 This is a flowchart illustrating the determination of the target spraying flow rate for the dual spraying channels of the present invention. Figure 4 This is a flowchart of the continuous execution gap judgment, cross-channel reallocation and exception handling of the present invention. Detailed Implementation

[0084] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0085] Example 1, referring to Figure 1 — Figure 4 This is the first embodiment of the present invention, applied to a drone spraying scenario where both the environmental conditions and crop canopy requirements are within the calibrated operating range, and both the centrifugal spraying channel and the pressure spraying channel can output normally. It provides a drone spraying adaptive control system and method based on environmental perception.

[0086] Specifically, refer to Figure 1 The drone-based adaptive control system for aerial spraying includes an agricultural drone, an environmental acquisition component, a canopy acquisition component, an edge controller, a parameter storage device, a centrifugal spraying channel, and a pressure spraying channel.

[0087] The environmental acquisition component, canopy acquisition component, parameter storage and flight control of the plant protection drone are connected to the edge controller, and the centrifugal spraying channel and pressure spraying channel are connected to the edge controller.

[0088] The environmental data acquisition component is used to collect environmental data of the agricultural drone's current operating area. This data includes wind speed and temperature; when humidity is also considered to determine the current environmental condition, it is also included. The environmental data acquisition component can employ wind speed sensors, temperature sensors, and humidity sensors, with the wind speed sensor positioned to minimize the impact of drone shading. The edge controller checks the validity of the data output from the environmental data acquisition component, rejecting data that fails to communicate, exceeds the sensor's effective range, or clearly does not conform to continuous sampling patterns.

[0089] The canopy acquisition component is used to acquire canopy data of the crop to be sprayed, and can employ a multispectral imaging component positioned towards the crop canopy.

[0090] The edge controller obtains canopy coverage, growth stage, or preset canopy features from multispectral images, and determines the current canopy demand based on canopy demand parameter data. When the crop growth stage has already been recorded in the task, the growth stage information and the multispectral image extraction results can be used together as the basis for determining canopy demand.

[0091] The centrifugal spraying channel includes a centrifugal nozzle, a centrifugal liquid supply regulator, a centrifugal flow rate acquisition device, a centrifugal disc drive device, and a rotation speed acquisition device.

[0092] The centrifugal liquid supply regulator can be an adjustable pump, a proportional valve, or a combination of both. The centrifugal flow rate acquisition device is set in the liquid supply branch leading to the centrifugal nozzle. The centrifugal disc drive device drives the centrifugal disc to rotate, and the speed acquisition device collects the actual speed of the centrifugal disc.

[0093] The pressure spraying channel includes a pressure nozzle, a pressure supply regulator, a pressure flow acquisition device, and a pressure acquisition device.

[0094] The pressure supply regulator can be an adjustable pump, a proportional valve, or a pressure regulating valve. The pressure and flow acquisition device is installed in the supply branch leading to the pressure nozzle, and the pressure acquisition device is installed upstream of the pressure nozzle to collect the spraying pressure of the pressure spraying channel.

[0095] The liquid medicine enters the supply pipeline after passing through the filter assembly from the medicine tank, and then enters the centrifugal spraying channel and the pressure spraying channel respectively.

[0096] Centrifugal flow acquisition unit and pressure flow acquisition unit respectively obtain the actual flow of the corresponding spraying channel, so that the edge controller can determine the actual output of the two spraying channels separately, instead of inferring the output status of the two spraying channels by only the total flow of the common liquid supply pipeline.

[0097] When using a shared upstream liquid supply source, the continuous working boundary of the two spraying channels is determined by joint calibration under the condition of simultaneous operation of the two channels.

[0098] For a spraying configuration, the combined flow range that has been confirmed to be continuously and stably maintained under the condition of simultaneous operation of two channels is used as the basis for determining the allowable range of the two spraying channels.

[0099] When the flow combination range formed by the initial allowable boundaries obtained from the two spraying channels exceeds the joint stable operating range, the two allowable ranges are conservatively contracted by lowering the upper limit of the allowable range of the centrifugal spraying channel, lowering the upper limit of the allowable range of the pressure spraying channel, or raising the lower limit of the allowable range of the corresponding spraying channel when the joint calibration objectively indicates that the lower limit of stable operation has changed. This ensures that the flow combination range formed by the two contracted allowable ranges is within the confirmed joint stable operating range.

[0100] If, after conservative contraction, the lower limit of the allowable interval of any spraying channel is higher than the upper limit of the corresponding allowable interval, the spraying configuration shall be reselected or the liquid output of the current spraying segment shall be stopped in accordance with the handling method for invalid allowable intervals described below.

[0101] The parameter storage device is used to store environmental level parameter data, canopy requirement parameter data, and spray configuration parameter data. It stores the corresponding data between spray configuration and effective spray width, the corresponding data between environmental status, spray configuration and the maximum allowable carrying capacity of centrifugal spray channel, the corresponding data between canopy requirement, spray configuration and the minimum unit area carrying capacity of pressure spray channel, and the corresponding data between environmental status, canopy requirement, spray configuration and dual-channel basic spray ratio.

[0102] The parameter memory also stores the pre-calibrated maximum and minimum continuous flow rates of the centrifugal spraying channel and the pressure spraying channel under different spraying configurations, the preset minimum flow rate of the centrifugal spraying channel, the corresponding data between the canopy requirements, the spraying configuration and the flow rate corresponding to the pre-calibrated lower pressure limit, as well as the channel allowable deviation and the total system flow allowable deviation of the two spraying channels.

[0103] When using a shared upstream liquid supply source, the conservative working boundary obtained by combining the two spraying channels in the parameter storage is obtained after pre-calibrating the continuous working boundary.

[0104] The edge controller can be an embedded controller with sensor acquisition interfaces, actuator control interfaces, and flight control communication interfaces. After acquiring the environmental data, canopy data, and UAV flight data required for the current control cycle, the edge controller... Figure 2 The process shown involves the following steps.

[0105] S1 collects environmental data, canopy data, and UAV flight data. It obtains environmental status from the environmental data and canopy requirements from the canopy data. Specifically, the edge controller continuously collects wind speed data within a preset sampling window and performs averaging, median processing, or outlier removal on the valid wind speed sample values ​​to reduce the impact of a single instantaneous disturbance on the environmental status assessment.

[0106] The edge controller queries environmental level parameter data based on the processed wind speed and temperature data to obtain the current environmental status. When collecting humidity data, the humidity data, along with the processed wind speed and temperature data, are used as query conditions for the environmental level parameter data.

[0107] Environmental level parameter data are pre-generated based on the operating conditions of the spraying equipment under different environmental conditions. Taking the maximum allowable load ratio of the centrifugal spraying channel as an example, during the equipment calibration phase, the load ratio of the centrifugal spraying channel is gradually changed under different environmental conditions and spraying configurations, and the distribution of tracer liquid inside and outside the effective spray width is collected. The largest load ratio that can be continuously used when the migration of the liquid outside the spray width does not exceed the allowable boundary under the corresponding operating conditions is taken as the maximum allowable load ratio of the centrifugal spraying channel under the corresponding environmental conditions and spraying configurations.

[0108] After the canopy acquisition component acquires multispectral images, the edge controller extracts canopy coverage, reproductive stage, or preset canopy features from the multispectral images and queries canopy demand parameter data to obtain the current canopy demand.

[0109] The minimum unit area capacity of the pressure spray channel can be obtained during the equipment calibration phase by changing the spray volume per unit area of ​​the pressure spray channel and collecting data on the liquid reception at different layers of the canopy. The smaller unit area capacity corresponding to the minimum liquid reception conditions under the corresponding canopy requirements is recorded as the minimum unit area capacity of the pressure spray channel under the corresponding canopy requirements and spray configuration.

[0110] The pre-calibrated lower limit of the pressure spraying channel corresponds to different physical limitations in terms of flow rate and minimum unit area capacity.

[0111] Specifically, the spraying pressure of the pressure spraying channel is gradually reduced under the corresponding canopy requirements and spraying configuration, and the spraying pressure, stable flow rate and canopy liquid reception status are observed simultaneously; the lower spraying pressure that can maintain a stable spraying state and meet the corresponding minimum liquid reception conditions is determined as the lower limit of the pre-calibrated pressure, and the actual flow rate that can be continuously and stably obtained under this pressure state is recorded as the flow rate corresponding to the lower limit of the pre-calibrated pressure.

[0112] The minimum flow rate preset in the centrifugal spraying channel is determined based on the minimum continuous liquid supply required for the centrifugal nozzle to maintain the predetermined working state under the corresponding spraying configuration, or the minimum centrifugal spraying capacity required by the task.

[0113] The edge controller also obtains the current flight speed and altitude from the drone's flight data, providing input for subsequent determination of the spray configuration and the target total spray flow.

[0114] S2, determine the current spray configuration based on environmental conditions and canopy requirements, and read the effective spray width corresponding to the current spray configuration: Specifically, the edge controller queries the spray configuration parameter data based on the environmental conditions and canopy requirements to determine the current spray configuration.

[0115] The spray configuration includes flight altitude, centrifugal nozzle spray attitude, and pressure nozzle spray attitude.

[0116] When the centrifugal disc rotation speed has a significant impact on the current droplet formation state, the spray configuration can also include centrifugal disc rotation speed settings. When the centrifugal spray flow rate and centrifugal disc rotation speed are controlled in combination, centrifugal flow rate-rotation speed combination settings can be pre-established, and the effective spray width and continuous working boundary can be calibrated for the corresponding combination settings.

[0117] The effective spray width is pre-calibrated according to the corresponding spray configuration. During calibration, spraying is performed at the corresponding flight altitude, nozzle attitude and centrifuge disk working state, and the collection positions are arranged in the lateral direction. The continuous effective spray width is determined according to the spray coverage distribution and recorded as the effective spray width of the corresponding spray configuration.

[0118] For a spray configuration that can be used across multiple adjacent permissible environmental conditions, a conservative effective spray width that has been calibrated and confirmed under the environmental conditions can be adopted, so that the actual effective spray width used does not exceed the continuous effective spray width that has been confirmed within the corresponding environmental range.

[0119] The current spray configuration remains unchanged within a control cycle. The effective spray width, allowable range of centrifugal spray channel, allowable range of pressure spray channel, target spray flow distribution, and cross-channel redistribution all correspond to the same spray configuration within this control cycle.

[0120] When changes in environmental conditions or canopy requirements reach the point where the spray configuration needs to be redefined, the current control cycle ends, the spray configuration is redefined in the next control cycle, and the effective spray width and the allowable range of the two spray channels are reread.

[0121] S3 determines the target total spray flow rate based on the target application rate per unit area, flight speed, and effective spray width, and also determines the allowable range for the two spraying channels and the basic spraying ratio for both channels: The target total spraying flow rate is determined according to the following formula: In the formula, This indicates the total target spraying flow rate, expressed in L / min. This indicates the target application rate per unit area for the task, expressed in L / ha. This indicates the flight speed of the agricultural drone, expressed in m / s. This indicates the effective spray width corresponding to the current spray configuration, in meters (m). Used to convert seconds to minutes. Used to convert square meters to hectares.

[0122] Taking the current control cycle in this embodiment as an example, the target application rate per unit area in the operation task is 20 L / ha, the current flight speed of the agricultural drone is 5 m / s, and the effective spray width corresponding to the current spray configuration is 8 m. Substituting these values ​​into the above formula, we get: The edge controller uses 4.80 L / min as the target total spray flow rate for the current control cycle and continues to determine the allowable range of the two spray channels based on the current environmental conditions, canopy requirements, and spray configuration.

[0123] The permissible range for centrifugal spraying channels is denoted as: The upper limit of the allowable range of the centrifugal spraying channel is jointly limited by the maximum allowable carrying capacity corresponding to the environmental conditions and the continuous output capacity under the current spraying configuration.

[0124] Specifically, the edge controller multiplies the current environmental state and the maximum allowable capacity ratio of the centrifugal spraying channel corresponding to the current spraying configuration with the current target total spraying flow rate to obtain the current allowable output flow rate of the centrifugal spraying channel determined according to the current environmental state; then, it selects the smaller value from the current allowable output flow rate and the pre-calibrated maximum continuous flow rate of the centrifugal spraying channel corresponding to the current spraying configuration as the upper limit of the allowable range of the centrifugal spraying channel.

[0125] The lower limit of the allowable interval for centrifugal spraying channels is selected from the larger value between the pre-calibrated minimum continuous flow rate corresponding to the current spraying configuration and the preset minimum flow rate that the centrifugal spraying channel can handle.

[0126] The permissible range for pressure spraying channels is denoted as: The edge controller obtains the minimum unit area capacity of the pressure spray channel based on the current canopy demand and the current spray configuration, and calculates the minimum flow rate of the pressure spray channel based on the current flight speed and effective spray width.

[0127] The lower limit of the allowable interval for pressure spraying channels is selected from the maximum value among the minimum flow rate that the pressure spraying channel can handle, the minimum continuous flow rate pre-calibrated for the pressure spraying channel corresponding to the current spraying configuration, and the flow rate corresponding to the pre-calibrated lower limit of the current canopy demand and the spraying configuration.

[0128] The upper limit of the pressure spray channel allows the maximum continuous flow rate to be pre-calibrated using the pressure spray channel corresponding to the current spray configuration.

[0129] The pre-calibrated maximum and minimum continuous flow rates of the two spraying channels are obtained through continuous output calibration. Specifically, during calibration, the corresponding liquid supply control quantity is changed while keeping the spraying configuration unchanged, and the actual flow rate, spraying pressure, centrifuge disc speed, and actuator status are observed within the continuous sampling window. When the actual flow rate can be maintained stably and the relevant equipment status does not exceed the normal operating range, the corresponding stable flow rate is recorded as the continuous operating flow rate under that operating condition, and the continuous operating boundary of the corresponding spraying configuration is formed accordingly.

[0130] When using a shared upstream liquid supply source, the aforementioned continuous working boundary is conservatively determined based on the joint stable working range of the two channels working simultaneously, and the maximum flow rate measured by the two spraying channels under individual working conditions is not simply combined as the upper limit of the joint working of the two channels.

[0131] The edge controller also reads the dual-channel base spray ratio based on environmental conditions, canopy requirements, and the current spray configuration.

[0132] The dual-channel basic spraying ratio is pre-formed under stable and continuous operating conditions in both spraying channels. Under corresponding environmental conditions, canopy requirements, and spraying configurations, the dual-channel load-bearing relationship that can simultaneously meet the environmental conditions for centrifugal spraying and the liquid reception conditions for pressure spraying canopy is recorded, and the load-bearing relationship that serves as the priority allocation benchmark is recorded as the dual-channel basic spraying ratio.

[0133] The basic spraying ratio is not directly used as the final execution flow rate. Instead, the basic target spraying flow rate of the pressure spraying channel is first formed based on the total target spraying flow rate, and then the feasible range is limited through the next step.

[0134] S4, Based on the target total spraying flow rate and the allowable range of the two spraying channels, a feasible range for the pressure spraying channel is formed, and two target spraying flow rates are determined: The feasible lower limit of the pressure spraying channel is determined by the following formula: In the formula, This indicates the lower limit of the feasible pressure spraying channel; This indicates the lower limit of the allowable interval for pressure spraying; This indicates the upper limit of the permissible interval for centrifugal spraying channels.

[0135] The feasible upper limit of the pressure spraying channel is determined by the following formula: In the formula, This indicates the upper limit of the feasible pressure spraying channel; This indicates the upper limit of the allowable range for pressure spraying channels; This indicates the lower limit of the permissible interval for centrifugal spraying channels.

[0136] when At that time, there is a feasible spraying allocation in the current control cycle.

[0137] The basic target spray flow rate of the pressure spray channel is denoted as... The target spray flow rate of the pressure spraying channel is recorded as... The amplitude is limited according to the following formula: In the formula, This indicates the basic target spray flow rate of the pressure spray channel formed according to the dual-channel basic spray ratio.

[0138] The above relationship corresponds to three processing branches: when the basic target spraying flow rate is lower than the feasible lower bound, the feasible lower bound is used; when the basic target spraying flow rate is higher than the feasible upper bound, the feasible upper bound is used; when the basic target spraying flow rate is within the feasible range, the basic target spraying flow rate is maintained.

[0139] The target spray flow rate for centrifugal spraying channels is determined by the following formula: In the formula, This indicates the target spraying flow rate of the centrifugal spraying channel.

[0140] In the current control cycle of this embodiment, the allowable range of centrifugal spraying channel is 0.80 to 2.16 L / min based on the current environmental conditions and spraying configuration, and the allowable range of pressure spraying channel is 2.88 to 4.20 L / min based on the current canopy demand and spraying configuration.

[0141] Therefore, the feasible lower bound for the pressure spraying channel is: The feasible upper limit of the pressure spraying channel is: In the current dual-channel basic spraying mix, the pressure spraying channel carries 70% of the target total spraying flow rate, therefore the basic target spraying flow rate for the pressure spraying channel is 3.36 L / min. This flow rate falls within the feasible range of 2.88–4.00 L / min, therefore the target spraying flow rate for the pressure spraying channel is 3.36 L / min, and the target spraying flow rate for the centrifugal spraying channel is 1.44 L / min.

[0142] when If there is no feasible spraying allocation in the current control period, the two target spraying flows for the current control period will not be generated, nor will normal spraying execution based on the current target spraying flow be initiated.

[0143] If any spray channel has a lower limit higher than its upper limit within the allowable range, it is determined that the current spray configuration or the corresponding spray channel parameters cannot form a normal spraying state. Therefore, the two target spray flow rates for the current control cycle are not generated, the spray configuration is reselected, and the effective spray width and the allowable ranges of the two spray channels are reread. If the allowable range of the corresponding spray channel is still invalid after reselecting the spray configuration, the pesticide output for the current spray segment is stopped.

[0144] S5, adjust the two spraying channels according to the two target spraying flow rates respectively, and perform feedback adjustment for this channel: Specifically, the edge controller adjusts the centrifugal liquid supply regulator according to the target spray flow rate of the centrifugal spray channel, and maintains the centrifugal disc speed and centrifugal nozzle spray posture according to the current spray configuration.

[0145] The edge controller adjusts the pressure supply regulator according to the target spray flow rate of the pressure spraying channel, and obtains the actual flow rate and spraying pressure based on the pressure flow rate acquisition device and the pressure acquisition device.

[0146] The correspondence between the target spray flow rate in the spray channel and the control quantity of the actuator can be established through equipment pre-calibration.

[0147] When the target spray flow rate is between adjacent calibration working points, the corresponding pump speed, valve opening or pressure adjustment can be determined according to the adjacent working points; the specific execution method is determined according to the liquid supply actuator used.

[0148] The actual flow rate is collected for each of the two spraying channels. Before cross-channel redistribution, the edge controller first adjusts the liquid supply, pump speed, valve opening or spraying pressure of the corresponding spraying channel based on the deviation between the target spraying flow rate and the actual flow rate.

[0149] The feedback regulation of this channel can adopt a closed-loop regulation method based on the step-by-step correction of the control quantity according to the flow deviation. The purpose of this process is to first use the normal regulation capability of the original spraying channel itself to eliminate ordinary execution deviations, so as not to immediately change the target spraying flow of another spraying channel due to a momentary change in flow rate.

[0150] S6, based on continuous feedback, determine the ongoing execution gap and the system net gap, and determine whether the actual total spraying flow rate is within the allowable range: The edge controller processes the actual flow rates of the two spraying channels separately according to the preset feedback window, and obtains the average actual flow rate of the centrifugal spraying channel window. and average actual flow rate of pressure spray channel window .

[0151] In the formula, Indicates the spraying channel The ongoing execution gap; Indicates the target spraying flow rate for the corresponding spraying channel; This indicates the average actual flow rate of the window within the corresponding feedback window; This indicates the allowable deviation for the corresponding spraying channel.

[0152] The length of the feedback window and the number of continuous feedbacks are determined based on the flow acquisition cycle, the normal response time of the liquid supply actuator, and the normal stabilization time of the system, so that the normal dynamic response process will not be directly identified as a continuous execution gap.

[0153] The system net gap is determined by the following formula: In the formula, Indicates the system's net deficit; This indicates the allowable deviation of the total system flow.

[0154] The system net gap is used to represent the amount of the actual total spraying flow that is insufficient relative to the lower allowable boundary of the target total spraying flow.

[0155] therefore, This does not alone indicate that the actual total spray flow rate is within the normal allowable range. The edge controller also compares the sum of the average actual flow rates of the two spray channel windows with the upper and lower allowable boundaries of the target total spray flow rate.

[0156] when At that time, it is determined that the actual total spraying flow rate is within the allowable range of the target total spraying flow rate.

[0157] In this embodiment, after adjustment of this channel, the average actual flow rate of the centrifugal spray channel window is 1.43 L / min, the average actual flow rate of the pressure spray channel window is 3.34 L / min, and the allowable deviation of the total system flow rate is 0.08 L / min.

[0158] The actual total flow rate of the two spraying channels was 4.77 L / min, which is within the allowable range of 4.72 to 4.88 L / min. The actual flow rates of the two spraying channels were also within their respective allowable ranges. Therefore, the current spraying status was maintained and subsequent feedback was continued.

[0159] The terms "continuous execution gap" and "continuous execution exception" have different meanings.

[0160] The persistent gap refers to the amount of insufficient spray flow in a spraying channel relative to the corresponding target spray flow rate, even after the channel has been adjusted.

[0161] Continuous execution abnormality indicates that the actual flow rate of the spraying channel exceeds the corresponding allowable range and cannot be restored after adjustment of this channel; the actual total spraying flow rate continues to exceed the upper and lower allowable boundaries after completing the applicable adjustment of this channel, cross-channel redistribution, or total flow reduction treatment; or the pressure, speed, liquid supply, or actuator status remains in an abnormal range.

[0162] Therefore, when S6 detects a net gap in the system, it does not skip the subsequent cross-channel reallocation directly. Instead, it prioritizes determining whether the constrained cross-channel reallocation process can be processed when the S7 admission conditions are met.

[0163] S7, determine the alternative spraying share and the remaining allowable spraying flow in the receiving channel when the cross-channel redistribution access conditions are met: When only one spraying channel has a continuous execution gap, the average actual flow rate of both spraying channel windows is within the corresponding allowable range, and the system net gap is greater than zero, the spraying channel with the continuous execution gap is determined as the gap channel, and the other spraying channel is determined as the receiving channel.

[0164] The proportion of spray that can be replaced by the gap channel is determined according to the following formula: In the formula, Indicates the amount that can be substituted for spraying; This indicates that the gap channel continues to execute the gap amount; Indicates the target spray flow rate of the gap channel before redistribution; This indicates the lower bound of the allowed interval for the gap channel.

[0165] The above calculations ensure that the flow rate that can be transferred from the gap channel does not exceed the actual continuous execution gap, nor does it exceed the portion of the gap channel's target spray flow rate that is higher than the lower limit of the corresponding allowable interval.

[0166] The remaining allowable spraying flow rate of the receiving channel is determined by the following formula: In the formula, Indicates the remaining allowable spraying flow rate of the receiving channel; Indicates the upper limit of the allowed range for the receiving channel; This represents the average actual flow rate of the receiving channel window; This indicates the target spray flow rate of the receiving channel before redistribution.

[0167] The first margin reflects the remaining space between the current actual output of the receiving channel and the upper limit of the allowable interval, while the second margin reflects the remaining space between the target spray flow rate and the upper limit of the allowable interval before redistribution. The smaller of the two values ​​is taken, ensuring that both the current actual state of the receiving channel and the updated target state are limited by the upper limit of the allowable interval.

[0168] When both spraying channels have a continuous execution gap, no cross-compensation is performed between the two channels. The current cross-channel redistribution is stopped and the spraying capacity, spraying configuration, and flight speed are reassessed.

[0169] When the average actual flow rate of any spraying channel window is lower than the lower limit of the corresponding allowable range, cross-channel redistribution will also be stopped.

[0170] At this point, even if the corresponding stable actual flow rate can represent the current physical output capacity of the spraying channel, it cannot be considered to meet the minimum undertaking boundary required by the current task.

[0171] S8 determines the cross-channel redistribution flow from three limit quantities and updates the two target spray flows: Cross-channel redistribution traffic is determined according to the following formula: In the formula, This indicates cross-channel redistribution of traffic; Limit the amount of spray that can be transferred out through the gap channel; Limit the amount of spray that can be increased by the receiving channel; The amount of spraying that still needs to be added to the actual total output of the system.

[0172] when At that time, reduce the spray flow rate of the target channel in the gap. Increase the target spray flow rate of the receiving channel by the same amount. .

[0173] The updated target spray flow rate for the gap channel is: The updated target spray flow rate for the receiving channel is: Since the two target spraying flows decrease and increase by the same amount respectively, the sum of the two target spraying flows remains equal to the total target spraying flow.

[0174] When the same pesticide is sprayed through two spraying channels, the above-mentioned equal amount of one subtraction and one increase is used to maintain the total amount of pesticide per unit area. The differences between centrifugal spraying and pressure spraying in terms of atomization mode and spraying state are still constrained by the basic spraying ratio of the two channels and their respective allowable ranges. This does not mean that the two spraying methods can be arbitrarily equivalently replaced under all working conditions.

[0175] S9, re-execute according to the updated target spray flow rate, and based on the new feedback results, proceed to continue spraying, capacity reassessment, configuration adjustment, flight speed adjustment, or stop spraying: When the cross-channel redistribution flow is greater than zero, the edge controller readjusts the two spray channels according to the updated two target spray flows, obtains the actual flow of the two spray channels again in the subsequent feedback window, re-determines whether there is a continuous execution gap in the two spray channels, recalculates the system net gap, and re-judges whether the actual total spray flow and the actual flow of the two spray channels are within the corresponding allowable range.

[0176] When the cross-channel redistribution flow is zero and the system net deficit is still greater than zero, the current target spraying flow of the two spraying channels is not changed. It is determined that the current cross-channel redistribution cannot eliminate the actual total spraying flow shortage, and the process of determining the current sustainable output flow and re-evaluating spraying capacity, spraying configuration and flight speed begins.

[0177] When the cross-channel redistribution flow is greater than zero, but the net system deficit is still greater than zero after re-execution according to the updated target spray flow, it is determined that the current cross-channel redistribution has failed to eliminate the actual total spray flow shortage, and the process of determining the current sustainable output flow and re-evaluating spray capacity, spray configuration and flight speed is initiated.

[0178] When the net gap in the system is zero after re-execution, it continues to determine whether the sum of the average actual flow rates of the two spraying channel windows is within the allowable range above and below the target total spraying flow rate, whether the average actual flow rates of the two spraying channel windows are respectively within the corresponding allowable range, and whether there is a continuous execution anomaly; only when all the above conditions are met will the current spraying state be maintained and the subsequent feedback cycle be entered.

[0179] When a spraying channel still has a continuous deviation from the corresponding target spraying flow rate, but the average actual flow rate of the two spraying channel windows is within the corresponding allowable range, the sum of the average actual flow rates of the two spraying channel windows is within the allowable range above and below the target total spraying flow rate, and there are no abnormalities in pressure, speed, liquid supply and actuator status, cross-channel redistribution will not be performed, and the feedback regulation of this channel will continue.

[0180] When the sum of the average actual flow rates of the two spraying channel windows exceeds the target total spraying flow rate plus the allowable deviation of the total system flow rate, the cross-channel redistribution within the current feedback cycle is stopped, and the corresponding flow control amount is reduced in the two spraying channels.

[0181] If the actual total spraying flow rate is still higher than the upper allowable boundary after continuous feedback, it is identified as a continuous execution anomaly, and spraying capacity, spraying configuration and flight speed are reassessed.

[0182] If the continuous over-flow is due to a mismatch between the stable operating lower limit of the two spray channels under the current spray configuration and the current target total spray flow, the method of reducing the flight speed will not be adopted. Instead, within the allowable operating speed range, a candidate higher flight speed will be selected or a spray configuration with a lower stable operating lower limit will be reselected. The target total spray flow, the minimum flow rate that the pressure spray channel can handle, and the two allowable intervals will be recalculated according to the candidate speed.

[0183] When the average actual flow rate of any spray channel window is lower than the lower limit of the corresponding allowable interval, remains higher than the upper limit of the corresponding allowable interval even after the control amount is reduced, or when there is a continuous execution gap or other continuous execution anomaly in both spray channels, the current cross-channel reallocation will be stopped regardless of whether the net gap of the system is zero, and the spraying capacity, spraying configuration and flight speed will be re-evaluated.

[0184] When the actual total flow rate of the two spraying channels is within the allowable range above and below the target total spraying flow rate, but the actual load-bearing relationship of one or two spraying channels cannot meet the corresponding allowable range, the current spraying state cannot continue solely based on the fact that the actual total spraying flow rate meets the requirements.

[0185] At the current flight speed, prioritize reselecting or reconfirming the spray configuration, and re-obtain the effective spray width and the allowable range of the two spray channels based on the reselected or confirmed spray configuration.

[0186] If a feasible spraying configuration can be formed after reselecting the spraying configuration at the current flight speed, the target spraying flow rate allocation will be re-executed according to the reselected spraying configuration in the next control cycle.

[0187] If a feasible spraying allocation cannot be achieved within the current flight speed and selectable spraying configuration range, the process of determining the current sustainable output flow rate and re-evaluating candidate flight speeds will commence. If a feasible spraying allocation still cannot be achieved within the permissible operating speed range and selectable spraying configuration range of the agricultural drone, the pesticide output for the current spraying segment will be stopped.

[0188] In this embodiment, the current sustainable output flow rate is the actual output flow rate that the spraying channel can maintain continuously and stably under the current spraying configuration, current liquid supply status, and actuator allowable control range, provided that it does not exceed the upper limit of the corresponding allowable range and the safe operating boundary of the equipment, as proven by continuous feedback or currently applicable confirmed capability records.

[0189] The current sustainable output flow rate can be lower than the lower limit of the allowable range under the current mission conditions. When the corresponding stable actual flow rate is lower than the lower limit of the allowable range, it means that the current physical output capacity of the spraying channel cannot meet the minimum capacity required by the current mission. It is necessary to re-evaluate the spraying configuration and flight speed, but this does not affect the use of the stable actual flow rate as the current physical capacity data.

[0190] For spraying channels that have not experienced a continuous execution gap and still have adjustment margin, when it is necessary to confirm the current sustainable output capacity, the capacity of this channel can be confirmed under the condition that it does not exceed the upper limit of the corresponding allowable range, the allowable control range of the actuator, and the shared liquid supply capacity.

[0191] During the capability verification process, the sum of the average actual flow rates of the two spraying channel windows must not exceed the upper allowable boundary of the target total spraying flow rate, and the actual flow rate of any spraying channel must not exceed the upper limit of the corresponding allowable range, while keeping the pressure, speed, liquid supply and actuator status within the normal range.

[0192] If the current operational status does not meet the conditions for proactively increasing the spraying flow rate to confirm the capacity, the capacity detection of increasing the spraying flow rate will not be performed. Instead, the current, continuously and stably maintained actual flow rate will be used as a conservative current sustainable output flow rate, or the currently applicable confirmed capacity record will be read.

[0193] When a stable actual feedback has been established in the current control cycle, the current sustainable output flow rate is determined based on the continuous and stable feedback of the current control cycle.

[0194] When the target spraying flow rate for cost control cycle is not generated because the feasible range of the pressure spraying channel does not exist, the sustainable output flow rate that has been confirmed in the most recent time under the conditions of the same spraying configuration, the same liquid supply path, and the liquid supply status being compatible with the current status can be used.

[0195] If there is no feedback for the current control cycle and no currently applicable confirmed capacity record, the upper limit of the pre-calibrated allowable interval will not be directly identified as the currently realized sustainable output capacity. Instead, a spraying configuration with available capacity data will be selected. If reliable capacity data still cannot be obtained, the output of the pesticide solution in the current spraying segment will be stopped and the system will enter the preset safety treatment.

[0196] The current sustainable output flow rates of the centrifugal spraying channel and the pressure spraying channel are respectively denoted as... and Based on the currently confirmed sustainable total output flow, a conservative candidate upper bound for flight speed is determined: In the formula, This represents a conservative candidate upper bound for flight speed based on currently confirmed sustainable total output; and These represent the current sustainable output flow rates of the centrifugal spraying channel and the pressure spraying channel, respectively.

[0197] When the current total spray flow rate exceeds the sustainable total output range that the two spray channels can support under the current conditions, select a speed not exceeding [a certain value] within the permissible operating speed range of the agricultural drone. The candidate lower flight speed is used to recalculate the target total spray flow, the minimum flow rate of the pressure spray channel, and the allowable range of the two spray channels at the candidate speed.

[0198] When the target total spray flow rate is lower than the stable operating lower limit range that the two spray channels can form under the current spray configuration, only Only when the flight speed exceeds the current speed should the operating speed of the agricultural drone be selected, within the permissible operating speed range, a speed exceeding the current speed but not exceeding [the current speed]. Candidate flight speeds; If the flight speed is not higher than the current flight speed, the flight speed will not be increased based on unconfirmed potential spraying capabilities. Instead, a spraying configuration with a lower stable operating limit will be selected.

[0199] Once the candidate flight speed is determined, the minimum flow rate that the pressure spraying channel can handle and the allowable range of the two spraying channels before the speed adjustment are not directly used. Instead, the target total spraying flow rate, the minimum flow rate that the pressure spraying channel can handle, the allowable range of the two spraying channels, and the feasible range of the pressure spraying channel are recalculated based on the candidate flight speed.

[0200] If, after reassessing the spraying capacity, spraying configuration, and flight speed, the current flight speed can still form a feasible spraying allocation, the re-determined flight speed can remain the current flight speed; if the current flight speed cannot form a feasible spraying allocation, a candidate flight speed different from the current flight speed will be determined within the permissible operating speed range of the agricultural drone based on the current reasons for infeasibility.

[0201] If a feasible spraying distribution cannot be achieved within the permissible operating speed range and selectable spraying configuration range of the agricultural drone, the output of pesticide solution in the current spraying segment shall be stopped.

[0202] Thus, Example 1 completes the entire control process from obtaining environmental and canopy data, determining the spray configuration, forming the target spray flow rate for the dual channels, feedback from this channel, continuous execution gap judgment, cross-channel redistribution, to anomaly degradation handling.

[0203] Example 2, refer to Figure 1 — Figure 4 This is the second embodiment of the present invention, applied to scenarios where the pressure spraying channel, after adjustment by this channel, still remains below the target spraying flow rate, the centrifugal spraying channel has remaining allowable spraying flow rate, and the actual total spraying flow rate of the system is still insufficient. This embodiment differs from the first embodiment in that: after the pressure spraying channel forms a single-channel continuous execution gap, the edge controller performs constrained cross-channel reallocation.

[0204] Specifically, the target total spraying flow rate of 4.80 L / min, the target spraying flow rate of 3.36 L / min in the pressure spraying channel, and the target spraying flow rate of 1.44 L / min in the centrifugal spraying channel are used in the current control cycle of Example 1.

[0205] The lower limit of the allowable range for pressure spraying is 2.88 L / min, and the upper limit of the allowable range for centrifugal spraying is 2.16 L / min.

[0206] After liquid supply and pressure regulation, the pressure spraying channel consistently achieves a flow rate of 2.96 L / min within the continuous feedback window, while the centrifugal spraying channel consistently achieves 1.42 L / min. The allowable deviation for the pressure spraying channel is 0.05 L / min; therefore, the current continuous operating shortfall for the pressure spraying channel is: There is no gap in the continuous implementation of centrifugal spraying channels.

[0207] The allowable deviation for the total system flow rate is 0.08 L / min. The current actual total flow rate of the two spraying channels is 4.38 L / min. Therefore, the net deficit of the system is: The portion of the target spray flow rate in the pressure spraying channel that exceeds the lower limit of the corresponding allowable range is 0.48 L / min. Therefore: The centrifugal spraying channel has a 0.74 L / min margin between the upper limit of the allowable interval and the current actual flow rate, and a 0.72 L / min margin between the allowable spraying flow rate and the target spraying flow rate before redistribution. Therefore, the remaining allowable spraying flow rate of the receiving channel is: Cross-channel redistribution traffic is: The edge controller reduced the target spray flow rate of the pressure spray channel from 3.36 L / min to 3.02 L / min and increased the target spray flow rate of the centrifugal spray channel from 1.44 L / min to 1.78 L / min.

[0208] After the update, the sum of the two target spray flow rates remains 4.80 L / min. The updated target for the pressure spraying channel is still higher than the lower limit of the allowable range of 2.88 L / min, while the updated target for the centrifugal spraying channel is still lower than the upper limit of the allowable range of 2.16 L / min.

[0209] The edge controller readjusts the corresponding spraying channels according to the updated two target spraying flow rates, and obtains the actual flow rate of the pressure spraying channel (3.00 L / min) and the actual flow rate of the centrifugal spraying channel (1.76 L / min) in the subsequent feedback window.

[0210] The actual total flow rate of the two spraying channels was 4.76 L / min, which is within the allowable range of 4.72 to 4.88 L / min corresponding to the target total spraying flow rate of 4.80 L / min. Furthermore, the actual flow rates of both spraying channels are within the corresponding allowable range. Therefore, the updated spraying status will continue to be executed and the subsequent feedback cycle will begin.

[0211] In the case where a continuous execution gap is formed in the centrifugal spraying channel alone, the same processing sequence is adopted to identify the centrifugal spraying channel as the gap channel and the pressure spraying channel as the receiving channel. The cross-channel redistribution flow is determined based on the continuous execution gap and lower limit of the allowable interval of the centrifugal spraying channel, the remaining allowable spraying flow of the pressure spraying channel, and the net gap of the system.

[0212] The remaining system structure and implementation steps are the same as in Example 1.

[0213] Example 3, referring to Figure 1 — Figure 4 This is the third embodiment of the invention, applied to scenarios where a spraying channel experiences a continuous execution gap but the receiving channel has no remaining allowable spraying flow, or where the current continuous output capacity of the two spraying channels cannot meet the operational task. This embodiment differs from the second embodiment in that cross-channel reallocation cannot eliminate the current spraying deficiency, and the edge controller further re-evaluates spraying capacity, spray configuration, and flight speed.

[0214] Specifically, in one control cycle of this embodiment, the target total spraying flow rate is 4.80 L / min, the target spraying flow rate of the centrifugal spraying channel is 2.16 L / min, and the target spraying flow rate of the pressure spraying channel is 2.64 L / min.

[0215] Under the current spraying configuration, the upper limit of the allowable range for the centrifugal spraying channel is 2.16 L / min; the lower limit of the allowable range for the pressure spraying channel corresponding to the current canopy demand and spraying configuration is less than 2.30 L / min. This means that the current stable actual flow rate of 2.30 L / min for the pressure spraying channel is still within the corresponding allowable range, but a continuous execution gap has been formed relative to the target spraying flow rate of 2.64 L / min.

[0216] After adjustment, the stable actual flow rate of the centrifugal spraying channel is 2.16 L / min, the stable actual flow rate of the pressure spraying channel is 2.30 L / min, and the allowable deviation of the total system flow rate is 0.08 L / min.

[0217] The system's net gap is: Since both the current actual flow rate of the centrifugal spraying channel and the target spraying flow rate before redistribution have reached the upper limit of the allowable range, the remaining allowable spraying flow rate of its receiving channel is zero.

[0218] therefore: Even if there are alternative spraying options in the pressure spraying channel, the target spraying flow rate in the centrifugal spraying channel cannot be increased further.

[0219] The edge controller maintains the current target spray flow rate of the two spray channels unchanged, and then enters the process of determining the current sustainable output flow rate and re-evaluating the spray configuration and flight speed.

[0220] Based on current continuous and stable feedback, the current sustainable output flow rate of the centrifugal spraying channel is 2.16 L / min, and the current sustainable output flow rate of the pressure spraying channel is 2.30 L / min. A conservative candidate upper bound for the flight velocity is determined based on the confirmed total output capacity: The current flight speed of 5 m / s is higher than the upper limit of the conservative candidate flight speed. The edge controller can select a candidate flight speed of no more than 4.65 m / s within the allowable operating speed range of the agricultural drone.

[0221] For example, if 4.60 m / s is selected as the candidate flight speed for the next control cycle, the total target spray flow rate is recalculated based on this candidate speed: The edge controller then recalculates the minimum flow rate that the pressure spray channel can handle and the allowable range of the two spray channels at 4.60 m / s, and re-forms the feasible range of the pressure spray channel; only when the recalculation results can form a feasible spray allocation will the corresponding candidate flight speed be used to continue subsequent control.

[0222] If both spray channels simultaneously create a continuous execution gap, for example, if the current continuous stable output capabilities are only 0.90 L / min and 2.40 L / min respectively, then the currently confirmed total sustainable output is 3.30 L / min, and the corresponding conservative candidate upper bound for flight speed is: When the minimum operating speed of the agricultural drone, determined based on flight stability requirements and operational safety conditions, is 3.50 m / s, and the upper limit of the conservative candidate flight speed is lower than the minimum operating speed, the drone will not continue to maintain the current spraying segment by reducing the flight speed, and will stop the output of pesticide solution in the current spraying segment.

[0223] This embodiment also illustrates the handling of situations where the actual total spraying flow rate is higher than the upper allowable boundary of the target total spraying flow rate.

[0224] For example, the target total spraying flow rate is 4.80 L / min, the allowable deviation of the total system flow rate is 0.08 L / min, and the sum of the average actual flow rates of the two spraying channel windows reaches 5.20 L / min.

[0225] Although obtained according to the system net gap formula The net gap is 0, but 5.20 L / min is already higher than the upper allowable boundary of 4.88 L / min. Therefore, it cannot be judged as a normal spraying state based on the fact that the net gap of the system is zero.

[0226] The edge controller stops cross-channel reallocation within the current feedback cycle and reduces the flow control amount of the corresponding spraying channel. If the actual total spraying flow rate is still higher than 4.88 L / min after continuous feedback, a continuous execution anomaly is recorded, and the spraying configuration and flight speed are reassessed.

[0227] When the sustained overload is due to the current target total spray flow rate being lower than the stable operating lower limit range that the two spray channels can achieve under the current spray configuration, the edge controller will not continue to reduce the flight speed. Instead, it will prioritize determining a candidate higher flight speed within the current permissible operating speed range, or reselect a spray configuration with a lower stable operating lower limit. When the candidate flight speed is higher than the current flight speed, it will not exceed the range determined based on the currently confirmed continuous output capacity. And recalculate the target total spraying flow rate, the minimum flow rate that the pressure spraying channel can handle, and all allowable intervals under the candidate velocity.

[0228] If a feasible spraying configuration can be restored by reselecting the spraying configuration at the current flight speed, the current flight speed can be maintained and the next control cycle can be entered according to the new spraying configuration; if a feasible spraying state still cannot be formed within the range of the current flight speed and the available spraying configurations, the candidate flight speed will be re-determined.

[0229] If a feasible spraying distribution cannot be achieved within the permissible operating speed range and selectable spraying configuration range of the agricultural drone, the output of pesticide solution in the current spraying segment shall be stopped.

[0230] The remaining system structure and implementation steps are the same as in Example 1.

[0231] Based on embodiments 1-3, the working principle of the present invention is as follows: the environmental acquisition component, the canopy acquisition component, and the agricultural drone flight control provide the data required for the current operation to the edge controller. The edge controller forms the environmental status and canopy requirements respectively, and determines the current spraying configuration based on the environmental status and canopy requirements.

[0232] Once the current spray configuration is determined, the edge controller reads the corresponding effective spray width, obtains the allowable range of the centrifugal spray channel based on the environmental conditions and the current spray configuration, and obtains the allowable range of the pressure spray channel based on the canopy requirements and the current spray configuration.

[0233] The edge controller determines the total target spray flow rate based on the target amount of pesticide applied per unit area, flight speed, and effective spray width. It reads the dual-channel basic spray ratio based on environmental conditions, canopy requirements, and the current spray configuration, and forms the basic target spray flow rate for the pressure spray channel.

[0234] The edge controller forms a feasible range for the pressure spraying channel based on the target total spraying flow rate and the allowable range of the two spraying channels. When a feasible range exists, the amplitude is limited according to the relationship between the basic target spraying flow rate and the feasible range to obtain the target spraying flow rate of the pressure spraying channel. Then, the target spraying flow rate of the centrifugal spraying channel is obtained by subtracting the target spraying flow rate of the pressure spraying channel from the target total spraying flow rate.

[0235] The two spraying channels operate according to their respective target spraying flow rates. The edge controller collects the actual flow rates of the two spraying channels and prioritizes adjusting the liquid supply, pump speed, valve opening, or spraying pressure within the corresponding spraying channel.

[0236] If a continuous execution gap still exists after adjustment of only one spraying channel, and the actual flow rates of both spraying channels are within the corresponding allowable range and the net gap of the system is greater than zero, the edge controller determines the gap channel and the receiving channel, and respectively determines the spraying share that the gap channel can replace, the remaining allowable spraying flow rate of the receiving channel, and the net gap of the system.

[0237] The edge controller selects the minimum value from the above three limits as the cross-channel redistribution flow, reduces the target spray flow of the gap channel by the corresponding flow, increases the target spray flow of the receiving channel by the same flow, and then re-executes according to the updated target spray flow and obtains actual feedback again.

[0238] If the cross-channel redistribution flow is zero but the system still has a net deficit, or if the system still has a net deficit after completing the cross-channel redistribution and re-execution, the current sustainable output flow, spray configuration, and flight speed will be reassessed.

[0239] If both spraying channels have continuous execution gaps, the actual flow rate of either spraying channel falls below the corresponding allowable range, the actual total spraying flow rate still exceeds the upper and lower allowable boundaries after appropriate adjustment, or other execution abnormalities persist, the abnormal state will not be simply covered by another spraying channel. Instead, the spraying capacity, spraying configuration, and flight speed will be reassessed.

[0240] If the current flight speed can still form a feasible spray allocation by reselecting the spray configuration, the current flight speed can be maintained; if the current flight speed cannot form a feasible spray allocation, a candidate lower flight speed, a candidate higher flight speed, or a spray configuration with different stable operating ranges should be selected according to the reasons for infeasibility, and the target total spray flow and all relevant allowable intervals should be recalculated under the new candidate conditions.

[0241] If the re-determined flight speed is lower than the minimum operating speed of the agricultural drone, or if a feasible spraying distribution cannot be achieved within the allowable operating speed and selectable spraying configuration range, the output of pesticide solution in the current spraying segment shall be stopped.

[0242] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A drone-based adaptive control method for aerial spraying based on environmental perception, characterized in that, include: Collect environmental data, canopy data, and UAV flight data; obtain environmental status from environmental data and canopy requirements from canopy data. Determine the current spray configuration, including flight altitude and spray attitude of the two spray channels, based on environmental conditions and canopy requirements, and read the effective spray width corresponding to the current spray configuration; The allowable range of the centrifugal spraying channel is determined based on the environmental conditions and the current spraying configuration, and the allowable range of the pressure spraying channel is determined based on the canopy requirements and the current spraying configuration; The current spray flow distribution, spray execution of the two spray channels, and cross-channel redistribution are based on the effective spray width, allowable range of the centrifugal spray channel, and allowable range of the pressure spray channel corresponding to the current spray configuration. The target total spray flow rate is determined based on the target amount of pesticide applied per unit area, flight speed, and effective spray width. The dual-channel basic spray ratio corresponding to environmental conditions, canopy requirements, and current spray configuration is obtained. The basic target spray flow rate of the pressure spray channel is determined based on the dual-channel basic spray ratio and the target total spray flow rate. The feasible range for the pressure spraying channel is determined based on the target total spraying flow rate, the allowable range of the centrifugal spraying channel, and the allowable range of the pressure spraying channel. When a feasible range of pressure spraying channel exists, the lower limit of the feasible range is used when the basic target spraying flow rate of the pressure spraying channel is lower than the lower limit of the feasible range of the pressure spraying channel, and the upper limit of the feasible range is used when it is higher than the upper limit of the feasible range of the pressure spraying channel. When it is within the feasible range of the pressure spraying channel, the basic target spraying flow rate of the pressure spraying channel is maintained to obtain the target spraying flow rate of the pressure spraying channel. The target spraying flow rate of the centrifugal spraying channel is the difference between the target total spraying flow rate and the target spraying flow rate of the pressure spraying channel. After obtaining the target spray flow rate of the pressure spray channel and the target spray flow rate of the centrifugal spray channel, the two spray channels are adjusted according to the two target spray flow rates to obtain the continuous actual flow rate of the two spray channels after adjustment by this channel; When any spraying channel continues to be lower than the corresponding target spraying flow rate after adjustment by this channel, and the difference between the target spraying flow rate and the continuous actual flow rate exceeds the preset channel allowable deviation, the portion exceeding the preset channel allowable deviation will be determined as the continuous execution gap. The non-negative difference obtained by subtracting the sum of the continuous actual flow rates of the two spraying channels and the allowable deviation of the total flow rate from the target total spraying flow rate is determined as the system net deficit; When there is a continuous execution gap in only one spraying channel, the continuous actual flow rates of both spraying channels are within the corresponding allowable range, and the net gap of the system is greater than zero, the spraying channel with the continuous execution gap is identified as the gap channel, and the other spraying channel is identified as the receiving channel. The smaller value between the continuous execution gap volume and the portion of the gap channel target spraying flow that exceeds the lower limit of the gap channel allowable interval is selected to determine the alternative spraying share; Calculate the non-negative difference between the upper limit of the allowable interval of the receiving channel and the continuous actual flow of the receiving channel, and the non-negative difference between the upper limit of the allowable interval of the receiving channel and the target spraying flow of the receiving channel before redistribution, to obtain two margins. Select the smaller value from the two margins to determine the remaining allowable spraying flow of the receiving channel. The minimum value among the alternative spraying share, the remaining allowable spraying flow in the receiving channel, and the system net gap is selected as the cross-channel redistribution flow. The target spraying flow in the gap channel is reduced by the cross-channel redistribution flow, and the target spraying flow in the receiving channel is increased by the cross-channel redistribution flow. The two spraying channels are then adjusted according to the updated target spraying flows.

2. The adaptive control method for UAV flight defense based on environmental perception according to claim 1, characterized in that, Environmental data includes wind speed and temperature. The continuous wind speed samples within the preset sampling window are averaged, processed, or outliers are removed. The environmental level parameters are queried based on the processed wind speed and temperature data to obtain the environmental status. When collecting humidity data, the humidity data, along with the processed wind speed and temperature data, are used as query conditions for environmental level parameter data. Canopy data includes multispectral image data. Canopy coverage, growth stage, or preset canopy features are extracted from the multispectral image data. Based on the extraction results, canopy demand parameter data is queried to obtain canopy demand.

3. The adaptive control method for UAV flight defense based on environmental perception according to claim 1, characterized in that, Query the spray configuration parameter data according to the environmental conditions and canopy requirements, select the flight altitude setting, centrifugal nozzle angle setting, pressure nozzle angle setting, and centrifugal disc speed setting or centrifugal flow rate-speed combination setting, and read the effective spray width corresponding to the selected spray configuration. The selected spray configuration remains unchanged within a control cycle; When the spray configuration changes, the current control cycle ends and a new spray configuration is selected in the next control cycle. The effective spray width, the allowable range of the centrifugal spray channel, and the allowable range of the pressure spray channel are then reread.

4. The adaptive control method for UAV flight defense based on environmental perception according to claim 1, characterized in that, The total target spray flow rate is determined based on the target application rate per unit area, flight speed, and the effective spray width corresponding to the current spray configuration. The larger value is selected from the difference between the lower limit of the allowable interval of the pressure spraying channel and the target total spraying flow rate minus the upper limit of the allowable interval of the centrifugal spraying channel to obtain the feasible lower limit of the pressure spraying channel; The smaller value is selected from the difference between the upper limit of the allowable interval of the pressure spraying channel and the lower limit of the allowable interval of the centrifugal spraying channel minus the target total spraying flow rate; the feasible upper limit of the pressure spraying channel is obtained. When the feasible lower limit of the pressure spraying channel is not higher than the feasible upper limit of the pressure spraying channel, the basic target spraying flow rate of the pressure spraying channel is determined based on the basic spraying mix ratio of the two channels and the target total spraying flow rate. The basic target spraying flow rate of the pressure spraying channel, the feasible lower limit of the pressure spraying channel, and the feasible upper limit of the pressure spraying channel are respectively denoted as... , , The target spray flow rate of the pressure spray channel is recorded as... The target spray flow rate for the pressure spraying channel is determined according to the following formula: The target spraying flow rate of the centrifugal spraying channel is the difference between the target total spraying flow rate and the target spraying flow rate of the pressure spraying channel. When the lower feasible limit of the pressure spraying channel is higher than the upper feasible limit of the pressure spraying channel, it is recorded that there is no feasible spraying allocation in the current control cycle.

5. The adaptive control method for UAV flight defense based on environmental perception according to claim 1, characterized in that, The instantaneous actual flow rates of the centrifugal spraying channel and the pressure spraying channel were collected respectively, and the average actual flow rate of the corresponding window was calculated according to the preset feedback window. Before determining the continuous execution gap, adjust the liquid supply, pump speed, valve opening or spraying pressure in the corresponding spraying channel based on the deviation between the target spraying flow rate and the average actual flow rate of the window. When the difference between the target spray flow rate and the average actual flow rate of a spraying channel is greater than the allowable deviation of the corresponding channel within a consecutive preset number of feedback windows, the positive difference obtained by subtracting the average actual flow rate of the window and the allowable deviation of the corresponding channel from the target spray flow rate in the current feedback window is recorded as the continuous execution gap.

6. The adaptive control method for UAV flight defense based on environmental perception according to claim 5, characterized in that, The spraying channel with a continuous execution gap is designated as the gap channel, and the other spraying channel is designated as the receiving channel; The smaller value is selected from the portion of the continuous gap volume and the gap channel target spray flow rate exceeding the lower limit of the gap channel allowable interval to determine the alternative spray share, and is recorded as follows: ; Calculate the non-negative difference between the upper limit of the allowable interval of the receiving channel and the average actual flow rate of the receiving channel window, and the non-negative difference between the upper limit of the allowable interval of the receiving channel and the target spraying flow rate of the receiving channel before redistribution. Select the smaller of the two non-negative differences to determine the remaining allowable spraying flow rate of the receiving channel, and denot it as . ; The non-negative difference obtained by subtracting the sum of the average actual flow rates of the two spraying channel windows and the allowable deviation of the total flow rate from the target total spraying flow rate is determined as the system net deficit, and is denoted as [missing information]. ; Cross-channel redistribution traffic is denoted as Determined according to the following formula: Reduce the spray flow rate of the gap channel target. Increase the target spray flow rate of the receiving channel. Adjust the two spraying channels according to the updated target spraying flow rates, and re-collect the actual flow rates of the two spraying channels.

7. The adaptive control method for UAV flight defense based on environmental perception according to claim 1, characterized in that, If no feasible section exists for the pressure spraying channel, stop the spraying flow distribution for the current control cycle; After the target spray flow rate of the pressure spray channel and the target spray flow rate of the centrifugal spray channel exist and are generated in the feasible range of the pressure spray channel, the continuous actual flow rate of the two spray channels is processed into the window average actual flow rate according to the preset feedback window. Based on the deviation between the window average actual flow rate and the corresponding target spray flow rate during the continuous feedback process and the allowable deviation of the corresponding channel, it is determined whether there is a continuous execution gap in the two spray channels respectively. When two spraying channels simultaneously have a continuous execution shortfall, cross-channel redistribution should be stopped. When the average actual flow rate of any spraying channel is lower than the lower limit of the corresponding allowable interval, cross-channel redistribution is stopped; When the average actual flow rate of any spraying channel is higher than the upper limit of the corresponding allowable range, the flow control amount of the corresponding spraying channel is reduced and cross-channel redistribution is stopped in the current feedback cycle. If, after reducing the flow control amount of the corresponding spraying channel, the average actual flow rate of the window still fails to return to the corresponding allowable range within a preset number of consecutive feedback cycles, an execution abnormality for the corresponding spraying channel is recorded. When the feasible range of the pressure spraying channel does not exist, the two spraying channels have a continuous execution gap at the same time, the average actual flow rate of the window of any spraying channel is lower than the lower limit of the corresponding allowable range, or the execution abnormality persists, the current sustainable output flow rate of the two spraying channels under the current spraying configuration is obtained respectively, and the flight speed is re-determined based on the sum of the two current sustainable output flow rates, the target amount of pesticide per unit area, and the effective spray width. When only one spraying channel has a continuous execution gap and cross-channel redistribution is completed, the two spraying channels are adjusted according to the updated two target spraying flows. The actual flow of the two spraying channels is re-collected in the subsequent feedback window, and the net gap of the system is re-determined based on the re-collected actual flow. If a net gap still exists in the system after re-determination, the current sustainable output flow rate of the two spraying channels under the current spraying configuration is obtained respectively, and the flight speed is re-determined based on the sum of the two current sustainable output flow rates, the target amount of pesticide per unit area, and the effective spray width; In the next control cycle, the spray configuration, effective spray width, target total spray flow rate, and allowable range of the two spray channels will be redefined. If no feasible spraying allocation is found after recalculation, or if the recalculated flight speed is lower than the preset minimum operating speed, the output of the spray solution in the current spraying segment shall be stopped.

8. An adaptive control system for drone-based aerial spraying based on environmental perception, characterized in that, This includes agricultural drones, environmental data acquisition components, canopy data acquisition components, edge controllers, parameter storage devices, centrifugal spraying channels, and pressure spraying channels; The environmental acquisition component, canopy acquisition component, parameter storage and flight control of the plant protection drone are connected to the edge controller, and the centrifugal spraying channel and pressure spraying channel are connected to the edge controller. The edge controller obtains the environmental status from the environmental acquisition component and the canopy requirements from the canopy acquisition component. Based on the environmental status and canopy requirements, it determines the current spray configuration, including the flight altitude and the spray attitude of the two spray channels, and reads the corresponding effective spray width. Based on the environmental status and the current spray configuration, it obtains the allowable range of the centrifugal spray channel and the allowable range of the pressure spray channel based on the canopy requirements and the current spray configuration. The spray flow rate allocation, spray execution of the two spray channels, and cross-channel redistribution are based on the effective spray width corresponding to the current spray configuration, the allowable range of the centrifugal spray channel, and the allowable range of the pressure spray channel. The edge controller determines the target total spray flow rate based on the target amount of pesticide applied per unit area, flight speed, and effective spray width. It reads the dual-channel basic spray ratio corresponding to environmental conditions, canopy requirements, and current spray configuration from the parameter memory. Based on the dual-channel basic spray ratio and the target total spray flow rate, it determines the basic target spray flow rate of the pressure spray channel. Based on the target total spray flow rate, the allowable range of the centrifugal spray channel, and the allowable range of the pressure spray channel, it forms the feasible range of the pressure spray channel. When no feasible interval exists in the pressure spraying channel, the edge controller ends the spraying flow distribution for the current control cycle; When a feasible range of pressure spraying channel exists, if the basic target spraying flow rate of pressure spraying channel is lower than the lower limit of the feasible range of pressure spraying channel, the lower limit of the feasible range of pressure spraying channel is used; if it is higher than the upper limit of the feasible range of pressure spraying channel, the upper limit of the feasible range of pressure spraying channel is used; if it is within the feasible range of pressure spraying channel, the basic target spraying flow rate of pressure spraying channel is maintained, thus forming the target spraying flow rate of pressure spraying channel. The target spray flow rate for the centrifugal spray channel is calculated by subtracting the target spray flow rate for the pressure spray channel from the target total spray flow rate. After generating the target spray flow rate for the pressure spray channel and the target spray flow rate for the centrifugal spray channel, the edge controller adjusts the two spray channels according to the two target spray flow rates, and obtains the continuous actual flow rate of the two spray channels after adjustment by this channel. When any spraying channel continues to be lower than the corresponding target spraying flow rate after adjustment by this channel, and the difference between the target spraying flow rate and the continuous actual flow rate exceeds the preset channel allowable deviation, the edge controller will determine the part exceeding the preset channel allowable deviation as the continuous execution gap amount; The edge controller subtracts the sum of the continuous actual flow rates of the two spray channels and the allowable deviation of the total flow rate from the target total spray flow rate to form the system net gap. When there is a continuous execution gap in only one spraying channel, the continuous actual flow of both spraying channels is within the corresponding allowable range, and the net gap of the system is greater than zero, the edge controller will identify the spraying channel with the continuous execution gap as the gap channel and the other spraying channel as the receiving channel. The edge controller selects the smaller value from the portion of the continuous execution gap amount and the gap channel target spray flow rate that exceeds the lower limit of the gap channel allowable interval to form an alternative spray share; The edge controller calculates the non-negative difference between the upper limit of the allowable interval of the receiving channel and the continuous actual flow of the receiving channel, and the non-negative difference between the upper limit of the allowable interval of the receiving channel and the target spraying flow of the receiving channel before redistribution, to obtain two margins. The smaller value is selected from the two margins to form the remaining allowable spraying flow of the receiving channel. The edge controller selects the minimum value from the alternative spray share, the remaining allowable spray flow in the receiving channel, and the system net gap to form the cross-channel redistribution flow. It reduces the target spray flow in the gap channel, increases the target spray flow in the receiving channel, and adjusts the two spray channels according to the updated target spray flow.

9. The UAV flight control adaptive regulation system based on environmental perception according to claim 8, characterized in that, The centrifugal spraying channel includes a centrifugal nozzle, a centrifugal liquid supply regulator, a centrifugal flow rate acquisition device, a centrifugal disc drive device, and a rotation speed acquisition device; the pressure spraying channel includes a pressure nozzle, a pressure liquid supply regulator, a pressure flow rate acquisition device, and a pressure acquisition device. The centrifugal flow acquisition unit sends the actual flow rate of the centrifugal spraying channel to the edge controller; the speed acquisition unit sends the centrifugal disc speed to the edge controller; the pressure flow acquisition unit sends the actual flow rate of the pressure spraying channel to the edge controller; and the pressure acquisition unit sends the spraying pressure to the edge controller. Before making a cross-channel redistribution judgment, the edge controller adjusts the centrifugal liquid supply regulator according to the actual flow rate of the centrifugal spraying channel and adjusts the pressure liquid supply regulator according to the actual flow rate and spraying pressure of the pressure spraying channel.

10. The UAV flight control adaptive regulation system based on environmental perception according to claim 8, characterized in that, The parameter memory stores the corresponding data between environmental conditions, spray configuration and the maximum allowable capacity ratio of the centrifugal spray channel; the corresponding data between canopy demand, spray configuration and the minimum unit area capacity of the pressure spray channel; the corresponding data between spray configuration and effective spray width; the corresponding data between environmental conditions, canopy demand, spray configuration and dual-channel basic spray ratio; the corresponding data between spray configuration and the pre-calibrated maximum continuous flow and pre-calibrated minimum continuous flow of each of the two spray channels; the preset minimum capacity flow of the centrifugal spray channel; the corresponding data between canopy demand, spray configuration and the flow corresponding to the pre-calibrated lower pressure limit; and the allowable channel deviation of each of the two spray channels, as well as the allowable deviation of the total system flow. The edge controller selects the smaller value between the pre-calibrated maximum continuous flow rate of the centrifugal spraying channel corresponding to the current spraying configuration and the current allowable output flow rate determined according to the maximum allowable carrying ratio of the centrifugal spraying channel, as the upper limit of the allowable range of the centrifugal spraying channel; The edge controller selects the larger value between the pre-calibrated minimum continuous flow rate of the centrifugal spraying channel corresponding to the current spraying configuration and the preset minimum flow rate that the centrifugal spraying channel can handle, as the lower limit of the allowable range of the centrifugal spraying channel; The edge controller obtains the minimum flow rate that the pressure spraying channel can handle based on the minimum unit area capacity, flight speed, and effective spray width. It selects the maximum value from the minimum flow rate that the pressure spraying channel can handle, the pre-calibrated minimum continuous flow rate of the pressure spraying channel corresponding to the current spraying configuration, the canopy requirements, and the flow rate corresponding to the pre-calibrated lower limit of the pressure corresponding to the current spraying configuration as the lower limit of the allowable range of the pressure spraying channel. The edge controller reads the pre-calibrated maximum continuous flow rate of the pressure spraying channel corresponding to the current spraying configuration, and uses the pre-calibrated maximum continuous flow rate of the pressure spraying channel as the upper limit of the allowable range of the pressure spraying channel.

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