The application discloses a kind of cooperative monitoring adaptive step-by-step sprinkling
irrigation control method, step one,
topography gradient, slope direction are regarded as rigid constraint condition, the three-dimensional mapping relationship between
remote sensing image pixel and ground sensor measuring point is established;Step two, unmanned aerial vehicle keeps relative ground fixed height flight along topographic
contour line, while completing the real-time splicing and exponential calculation of
multispectral image at airborne end, uploads the grid
level data after fusion;Step three, slope direction
radiation difference,
evapotranspiration difference caused by mountain wind are regarded as model input feature, using
online learning mechanism to update
model parameters in real time, carry out adaptive adjustment of
irrigation decision;Step four, upper layer carries out global path planning based on digital
chassis, lower layer uses
terrain adaptive
synchronous control law to carry out local trajectory tracking;Step five, four-
legged robot dog is used as
mobile relay node, and moves to optimal position to forward instruction automatically in communication blind area.