WO2021008264A1

WO2021008264A1 - Plant protection spraying method for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2021008264A1
Application number: PCT/CN2020/094127
Authority: WO
Inventors: 谢海燕; 张毅; 于航
Original assignee: 南京嘉谷初成通信科技有限公司
Priority date: 2019-07-18
Filing date: 2020-06-03
Publication date: 2021-01-21
Also published as: CN110162099B; CN110162099A

Abstract

A plant protection spraying method for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. The method comprises: step 1, acquiring flight information sent by a ground station, the flight information comprising a reference flight route (210); step 2, performing a flying operation according to the reference flight route, using a sensing module to scan a preset range of regions ahead during flight, and obtaining a scanning result (220); step 3, determining, according to the scanning result, a target plant to undergo a spraying operation, flying toward the target plant, and hovering over the target plant to perform a spraying operation (230); and step 4, after completion of the spraying operation performed on the target plant, returning to the reference flight route to continue the flying operation, and repeatedly executing step 2 and step 3 until arriving at the destination of the reference flight route (240). In the invention, a target plant to undergo a spraying operation is determined by means of scanning performed by a sensing module, thereby eliminating the need to perform surveying and mapping operations to locate each plant in advance.

Description

Plant protection spraying method for drone, drone and storage medium

Technical field

The embodiment of the present invention relates to plant protection drone technology, in particular to a plant protection spraying method of the drone, the drone and the storage medium.

Background technique

As a new type of pesticide spraying equipment, plant protection drones have developed rapidly in recent years.

When plant protection drones are spraying in the field, carpet spraying is used, which has achieved good results. However, when the carpet spraying method is applied in orchards, it has encountered many problems, that is, it is impossible to spray the key points one by one according to the position of the fruit trees, and the area between the fruit trees is still sprayed, which wastes a lot of liquid medicine.

The reason is that the drone cannot perceive the exact location of each fruit tree, as well as the size and shape of the tree crown.

Currently on the market, there is a plan to map the position of each fruit tree in advance, and then provide the position of the fruit tree to the drone control system for operation. However, due to the time-consuming and labor-intensive process of surveying and mapping, the results obtained are not ideal.

Summary of the invention

The embodiment of the present invention provides an unmanned aerial vehicle plant protection spraying method, an unmanned aerial vehicle and a storage medium, so as to realize that there is no need to map the position of each plant in advance and reduce the expenditure of manpower and material resources.

In the first aspect, an embodiment of the present invention provides a plant protection spraying method for drones, including:

Step 1: Obtain flight information sent by a ground station, where the flight information includes a reference route;

Step 2: Perform the flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result;

Step 3: Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray;

Step 4: After spraying the target plants, return to the reference route to continue flying, and repeat steps 2 and 3 until the reference route is completed.

Optionally, in step 1, the flight information further includes: plant type, average distance between plants, single plant spraying amount, flying speed, flying height, and spraying drop.

Optionally, in step 2, the predetermined area range is a fan-shaped range within a predetermined angle range in front of the flight of the sensing module, and the radius does not exceed the average plant spacing distance.

Optionally, in step 2, the scanning result is the number of plants within a preset area and the distance between each plant and the drone.

Optionally, in step three, the determining the target plant to be sprayed according to the scanning result includes:

Select the plant closest to the drone within the preset area as the target plant to be sprayed.

Optionally, before selecting the plant closest to the drone within a preset area as the target plant to be sprayed, it includes:

Confirm the plants that have been sprayed within the preset area;

After ignoring the sprayed plants, the plant closest to the drone within the preset area is selected as the target plant to be sprayed.

Optionally, the confirming the plants that have been sprayed within the preset area includes:

Take the flight area corresponding to the reference route that the drone has flown as the sprayed area, and the flight area is the area between the preset distance on the left and the preset distance on the right of the reference route that the drone has flown. The preset distance on the left and the preset distance on the right are half of the average distance between plants;

When the entire plant within the preset area is in the sprayed area, confirm that the plant is a plant that has been sprayed.

Optionally, in step three, the flying above the target plant and spraying includes:

Step A. Obtain the yaw angle between the current horizontal direction of the drone and the line between the center point of the target plant and the drone, the height difference between the current height of the drone and the highest point of the target plant, The distance between the current position of the drone and the position of the center point of the target plant is used as an adjustment index;

Step B: Adjust the attitude of the drone according to the adjustment index and fly above the target plant, wherein the distance between the drone and the highest point of the target plant is the spraying drop;

Step C. Repeat steps A and B until the distance between the current position of the drone and the position of the center point of the target plant is less than the preset close distance, spray the target plant according to the single plant spray amount .

In the second aspect, an embodiment of the present invention also provides a drone, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the program as described above. The plant protection spraying method for drones described in any one of the embodiments.

In the third aspect, the embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the plant protection of the drone as described in any of the above embodiments is implemented. Spraying method.

The embodiment of the present invention scans the target plants to be sprayed through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.

Description of the drawings

Figure 1 is a schematic structural diagram of an unmanned aerial vehicle plant spraying system provided by an embodiment of the present invention;

2 is a schematic flow chart of a plant protection spraying method for drones in Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of a reference route in the first embodiment of the present invention;

4 is a schematic diagram of the scanning range in Embodiment 1 of the present invention;

5 is a schematic diagram of the sprayed area in the first embodiment of the present invention;

Figure 6 is a schematic diagram of confirming that plants have been sprayed in the first embodiment of the present invention;

FIG. 7 is a schematic diagram of a return reference route in Embodiment 1 of the present invention;

Fig. 8 is a schematic structural diagram of an unmanned aerial vehicle in the second embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for ease of description, the drawings only show part of the structure related to the present invention, but not all of the structure.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowchart describes the steps as sequential processing, many of the steps can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the steps can be rearranged. The processing may be terminated when its operation is completed, but may also have additional steps not included in the drawings. The processing may correspond to methods, functions, procedures, subroutines, subroutines, and so on.

In addition, the terms "first", "second", etc. may be used herein to describe various directions, actions, steps or elements, etc., but these directions, actions, steps or elements are not limited by these terms. These terms are only used to distinguish a first direction, action, step or element from another direction, action, step or element. For example, without departing from the scope of the present application, the first speed difference may be referred to as the second speed difference, and similarly, the second speed difference may be referred to as the first speed difference. Both the first speed difference and the second speed difference are speed differences, but they are not the same speed difference. The terms "first", "second", etc. cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

Figure 1 is a schematic structural diagram of an unmanned aerial vehicle plant spraying system provided by an embodiment of the present invention. As shown in FIG. 1, the UAV plant spraying system of this embodiment includes an UAV 110 and a ground station 120. Among them, the UAV 110 includes a satellite navigation device 111, a flight control 112, and a sensing module 113. Among them, the satellite navigation device 111, the flight control 112 and the sensing module 113 are all installed on the drone 110. Among them, the sensing module 113 is installed in the direction of the nose of the drone 110, and there is no obstruction to the front and below. The sensing module 113 has a single-axis pan/tilt, and the single-axis pan/tilt controls the sensing module 113 to perform a pitching action.

The sensing module 113 may be a dual camera module with AI function, a lidar module with AI function, or a millimeter wave radar module with AI function.

The drone plant spraying system provided by the embodiment of the present invention is used to implement the drone plant protection spraying method provided in the embodiment of the present invention. The following describes the drone plant protection spraying method provided by the embodiment of the present invention in detail.

Example one

Fig. 2 is a schematic flow chart of a plant protection spraying method for drones according to Embodiment 1 of the present invention. The method in this embodiment of the present invention can be applied to a situation where drones spray plants. The method of the embodiment of the present invention may be executed by a drone. Referring to Figure 2, the plant protection spraying method for drones according to an embodiment of the present invention specifically includes the following steps:

Step 210: Obtain flight information sent by a ground station, where the flight information includes a reference route.

Among them, the reference route is to generate a "ji"-shaped route according to the shape of the plot, and the route interval is the average distance between plants L.

Wherein, the flight information may also include: plant type, average plant separation distance, single plant spraying amount, flying speed, flying height, spraying drop.

Specifically, the ground station delineates the area to be operated on the map, and sets the parameters of this operation. The parameters include: (1) plant type, such as tree; (2) average plant spacing distance, said average spacing The distance is the average of the distance between the center points of two adjacent plants; (3) the amount of single plant spraying; (4) flying speed; (5) flying height; (6) spraying drop, the distance of the drone during spraying The height difference of the highest point of the plant.

The ground station generates a reference route according to the designated target spraying area and the average distance between plants, as well as the predetermined route generation rules.

The ground station will send the reference route, plant type, average distance between plants, single plant spraying volume, flight speed, flying height, and spraying drop to the flight controller.

As shown in Figure 3, the flight control controls the UAV to take off, and according to the reference route, it flies to the starting waypoint 310, and then starts to fly along the reference route in the shape of "Several". The route interval is the average distance between plants, L , The flight ends at waypoint 320. The area flying along the reference route is the target spraying area 330. The reference route in FIG. 3 is only an example and does not limit the present invention.

Step 220: Perform a flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result.

Wherein, the predetermined area range is a fan-shaped range within a predetermined angle range in front of the flight of the sensing module and a radius not exceeding the average plant separation distance.

The scanning result is the number of plants in the preset area and the distance between each plant and the drone. It is understandable that the distance between each plant and the drone can be the distance between the center of each plant and the drone, or the distance between the nearest border of each plant and the drone. The preferred embodiment of the present invention is the distance between the nearest border of each plant and the drone.

Exemplarily, during the flight, the flight controller sends a scan command SCAN to the sensing module, and the sensing module is instructed to scan the front of the drone in flight and identify the plants in front.

The format/parameter of the instruction SCAN is:

SCAN{model:=tree, angle:=30, distance:=L}

The meaning of the instruction is to scan and identify the plants within 60 degrees ahead and the distance not exceeding L. Among them, L is the average distance between plants. As shown in FIG. 4, the UAV 410 flies along the reference route, scans and recognizes the preset area range 420 within 60 degrees ahead and the distance does not exceed L. It can be understood that the specific angle range is only an example and does not limit the present invention.

After receiving the SCAN command, the sensing module adjusts the single-axis gimbal and confirms that the sensing module points directly in front of the flight. Then repeat (for example, 100 milliseconds/time) to identify plants within the preset area of the scan, and send the scan results to the flight controller:

SCAN_RESULT{n,{1,distance_center ₁ ,distance_border ₁ },{2,distance_center ₂ ,distance_border ₂ },...,{n,distance_center _n , distance_border _n }}

Among them, n means that n plants are found in the current scanning range, followed by {idx,distance_center _idx ,distance_border _idx }, which means the distance between the center point of each plant and the aircraft, and the distance between the nearest border and the drone distance.

As long as a part is within the preset area range of the scan, the plant is considered to belong to the preset area range of the scan.

Step 230: Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray.

Specifically, determining the target plant to be sprayed according to the scanning result includes: selecting the plant that is closest to the drone within a preset area as the target plant to be sprayed.

Preferably, before selecting the plant closest to the drone within the preset area as the target plant to be sprayed, it includes:

Step A: Confirm the plants that have been sprayed within the preset area;

Specifically, confirming the plants that have been sprayed within the preset area includes:

Step Aa. Use the flight area corresponding to the reference route that the drone has flown as the sprayed area, where the flight area is the area between the preset distance on the left and the preset distance on the right of the reference route that has been flown, where , The preset distance on the left and the preset distance on the right are half of the average distance between plants.

Specifically, as shown in FIG. 5, the UAV 510 flies along the reference route 520. When the UAV 510 flies to point A, the preset distance L/2 on the left side of the reference route 520 and the right The area between the preset distance L/2 on the side is regarded as the sprayed area 530, and the other areas are regarded as the unsprayed area 540. Among them, L is the average distance between plants.

Step A-b: When the entire plant within the preset area is in the sprayed area, confirm that the plant is a plant that has been sprayed.

Specifically, as shown in FIG. 6, the sprayed area 630 is the area between the preset distance L/2 on the left and the preset distance L/2 on the right of the reference route that the drone has flown. The UAV 610 flies along the reference route, and the area within the preset distance range on both sides of the reference route constitutes the sprayed area 630. The area other than the sprayed area 630 is an unsprayed area. The drone 610 flies along the reference route, scans the plants in the preset area 620 ahead, and finds that there are plant 1, plant 2, plant 3 in the preset area 620, and judge whether plant 1, plant 2, plant 3 are The plant that has been sprayed, specifically, when the entire plant within the preset area 620 is in the sprayed area 630, it is confirmed that the plant is a plant that has been sprayed. Part of plant 1 is located in the sprayed area 630 and part of it is located in the unsprayed area, which is regarded as an unsprayed plant; plant 2 is all located in the unsprayed area and is regarded as an unsprayed plant; plant 3 is all located in the sprayed area 630, confirm the Plants are plants that have been sprayed.

Specifically, when it is found that a certain plant (or plants) in the scan result has been sprayed, the flight controller sends an ignore command (IGNORE) to the sensing module, and the sensing module will mark these plants as No need to identify, there will be no more information about these plants in the subsequent SCAN_RESULT.

The format/parameters of the IGNORE command are as follows:

IGNORE{1,3,...,x} means to ignore plant No. 1, plant No. 3,..., plant No. x. Note that 1, 3, and x are the serial numbers in the previous SCAN_RESULT.

Step B: After ignoring the sprayed plants, the plant closest to the drone within the preset area is selected as the target plant to be sprayed.

Specifically, after the flight controller receives the SCAN_RESULT and confirms that all the plants in the SCAN_RESULT have not been sprayed, it selects the plant with the closest border in the SCAN_RESULT that is the smallest (closest) distance from the drone, and uses the plant as the spray target. The plant sends a target command (TARGET) as a parameter to the perception module:

TARGET{idx}

idx represents the idx plant found in the current scan range, and TARGET{idx} represents the idx plant as the spray target, flying above the plant for spraying.

Specifically, flying above the target plant for spraying includes:

Step A. Obtain the yaw angle between the current horizontal direction of the drone and the line between the center point of the target plant and the drone, the height difference between the current height of the drone and the highest point of the target plant, The distance between the current position of the drone and the position of the center point of the target plant is used as an adjustment index.

Specifically, after receiving the TARGET command, the perception module repeats the calculation:

1) The current horizontal direction of the drone, and the yaw angle between the center point of the plant.

2) The current height of the drone and the height difference between the highest point of the plant.

3) The current position of the drone, and the distance from the center of the plant.

Yaw angle, altitude difference, and distance are used as adjustment indicators.

Among them, the current position of the drone can be obtained through a satellite navigation device; the position of the plant center point can be obtained through a perception module.

In order to estimate the above values more accurately, the sensing module needs to control the single-axis pan/tilt and adjust the orientation of the sensing module to better align the target plant.

Step B. Adjust the attitude of the drone according to the adjustment index, and fly above the target plant, wherein the distance between the drone and the highest point of the target plant is sent by the ground station to the drone Spraying the drop.

In this embodiment, the adjustment indicator may also be repeatedly sent in a preset period to adjust the attitude of the drone. Specifically, according to the adjustment index, repeat (for example, once every 50 milliseconds) to send an adjustment instruction to the flight controller to adjust the attitude of the UAV to fly above the target plant.

Step C. Repeat steps A and B until the distance between the current position of the drone and the position of the center point of the target plant is less than the preset close distance, then it is considered that the drone has flown above the target plant. The single plant spraying amount sent by the ground station to the drone sprays the target plant.

Specifically, the flight controller turns on the water pump switch and controls the aircraft to rotate on the spot while calculating the spray volume. When the spraying amount reaches the set value, the spraying of the plants is ended.

Step 240: After spraying the target plant, return to the reference route to continue flying, and repeat

steps

220 and 230 until the reference route is completed.

Exemplarily, as shown in FIG. 7, since in step 230, the drone 710 determines the target plant 720 to be sprayed according to the scan result, and when it flies above the target plant 720 to spray, it may leave the reference route 730 . After finishing the spraying of the target plant 720, the flight control drone 710 adjusts the nose direction to be perpendicular to the reference route 730, continues to fly, returns to the reference route 730, and then jumps to step 220.

In the technical solution of the embodiment of the present invention, the target plant to be sprayed is scanned through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.

Example two

FIG. 8 is a schematic structural diagram of a drone provided by Embodiment 2 of the present invention. As shown in FIG. 8, the drone includes a processor 810, a memory 820, an input device 830, and an output device 840; The number of processors 810 may be one or more. One processor 810 is taken as an example in FIG. 8; the processor 810, the memory 820, the input device 830 and the output device 840 in the drone may be connected by a bus or other means. In Figure 8, the bus connection is taken as an example.

As a computer-readable storage medium, the memory 820 can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the plant protection spraying method for drones in the embodiment of the present invention. The processor 810 executes various functional applications and data processing of the drone by running the software programs, instructions, and modules stored in the memory 820, that is, realizing the aforementioned plant protection spraying method of the drone.

That is:

The memory 820 may mainly include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 820 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some examples, the memory 820 may further include a memory remotely provided with respect to the processor 810, and these remote memories may be connected to the drone through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 830 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the drone. The output device 840 may include a display device such as a display screen.

Example three

The third embodiment of the present invention also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute a drone plant protection spraying method, the method comprising:

Of course, a storage medium containing computer-executable instructions provided by the embodiments of the present invention, and the computer-executable instructions are not limited to the method operations described above, and can also perform the plant protection of drones provided by any embodiment of the present invention. Related operations in the spraying method.

The computer-readable storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

The computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium. The computer-readable medium may send, propagate, or transmit for use by or in combination with the instruction execution system, apparatus, or device. program.

The program code contained on the storage medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

The computer program code used to perform the operations of the present invention can be written in one or more programming languages or a combination thereof. The programming languages include object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language. The program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or terminal. In the case of a remote computer, the remote computer can be connected to the user’s computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).

Note that the above are only the preferred embodiments of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope of is determined by the scope of the appended claims.

Claims

A plant protection spraying method for drones, which is characterized in that it comprises:

Step 1: Obtain flight information sent by a ground station, where the flight information includes a reference route;

Step 2: Perform the flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result;

Step 3: Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray;

Step 4: After spraying the target plants, return to the reference route to continue flying, and repeat steps 2 and 3 until the reference route is completed.
The plant protection spraying method of an unmanned aerial vehicle according to claim 1, wherein in step 1, the flight information further includes: plant type, average distance between plants, single plant spraying amount, flying speed, flying height , Spraying drop.
The plant protection spraying method of an unmanned aerial vehicle according to claim 1, wherein in step 2, the preset area range is within a preset angle range in front of the sensing module flying, and the radius does not exceed the average plant separation distance Sector range.
The plant protection spraying method of an unmanned aerial vehicle according to claim 1, wherein in step 2, the scanning result is the number of plants within a preset area and the distance between each plant and the unmanned aerial vehicle.
The plant protection spraying method of an unmanned aerial vehicle according to claim 4, characterized in that, in step 3, the determining the target plant to be sprayed according to the scanning result comprises:

Select the plant closest to the drone within the preset area as the target plant to be sprayed.
The plant protection spraying method of an unmanned aerial vehicle according to claim 5, characterized in that, before the selecting the plant closest to the unmanned aerial vehicle within a preset area as the target plant to be sprayed, it comprises:

Confirm the plants that have been sprayed within the preset area;

After ignoring the sprayed plants, the plant closest to the drone within the preset area is selected as the target plant to be sprayed.
The plant protection spraying method of an unmanned aerial vehicle according to claim 6, wherein the confirming the plants that have been sprayed within the preset area includes:

Take the flight area corresponding to the reference route that the drone has flown as the sprayed area, and the flight area is the area between the preset distance on the left and the preset distance on the right of the reference route that the drone has flown. The preset distance on the left and the preset distance on the right are half of the average distance between plants;

When the entire plant within the preset area is in the sprayed area, confirm that the plant is a plant that has been sprayed.
The plant protection spraying method of an unmanned aerial vehicle according to claim 2, characterized in that, in step 3, the flying above the target plant for spraying comprises:

Step A. Obtain the yaw angle between the current horizontal direction of the drone and the line between the center point of the target plant and the drone, the height difference between the current height of the drone and the highest point of the target plant, The distance between the current position of the drone and the position of the center point of the target plant is used as an adjustment index;

Step B: Adjust the attitude of the drone according to the adjustment index and fly above the target plant, wherein the distance between the drone and the highest point of the target plant is the spraying drop;

Step C. Repeat steps A and B until the distance between the current position of the drone and the center point of the target plant is less than the preset proximity distance, the target plant is sprayed according to the single plant spray amount Spray it.
An unmanned aerial vehicle, comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program when the program is executed as in any one of claims 1-8 The plant protection spraying method of the drone.
A computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to realize the plant protection spraying method for drones according to any one of claims 1-8.