CN109144100B

CN109144100B - Spraying control method, device, ground station and storage medium

Info

Publication number: CN109144100B
Application number: CN201811020681.2A
Authority: CN
Inventors: 张毅; 于航; 张智
Original assignee: Jiagutech Co ltd
Current assignee: Jiagutech Co ltd; Nanjing Nanjizhi Agricultural Machinery Science And Technology Research Institute Co Ltd
Priority date: 2018-09-03
Filing date: 2018-09-03
Publication date: 2021-06-25
Anticipated expiration: 2038-09-03
Also published as: CN109144100A

Abstract

The invention discloses a spraying control method, a device, a ground station and a storage medium, wherein the method comprises the following steps: the method comprises the steps of determining a planning path of a target frame number according to position information of a starting navigation point of the target frame number of the plant protection unmanned aerial vehicle and working parameters of the plant protection unmanned aerial vehicle, correcting the planning path according to the position relation between an ending navigation point of the planning path and a near navigation section of a target, obtaining a corrected planning path and a return navigation point corresponding to the corrected planning path, sending a medicine adding instruction to a medicine filling machine according to the corrected planning path and the residual medicine amount of a medicine box of the plant protection unmanned aerial vehicle, sending the corrected planning path and the return navigation point to the plant protection unmanned aerial vehicle, reducing consumption and waste of battery resources and system resources of the plant protection unmanned aerial vehicle, and improving spraying efficiency.

Description

Spraying control method, device, ground station and storage medium

Technical Field

The embodiment of the invention relates to an unmanned aerial vehicle technology, in particular to a spraying control method, a spraying control device, a ground station and a storage medium.

Background

With the development of communication technology and electronic technology, the unmanned aerial vehicle field develops rapidly. Plant protection unmanned aerial vehicle has obtained wide application in the agricultural field as a neotype pesticide spraying apparatus.

Fig. 1 is a schematic diagram of a path in a spraying process of a plant protection unmanned aerial vehicle in the prior art. As shown in figure 1, the plant protection unmanned aerial vehicle flies according to a Chinese character 'ji' shaped air route when spraying. In a certain frame, when the liquid medicine in the medicine box of the plant protection unmanned aerial vehicle is sprayed, namely, when a medicine breaking event occurs, the plant protection unmanned aerial vehicle can store the medicine breaking position when the medicine breaking event occurs. And then, the plant protection unmanned aerial vehicle returns to a return point. The return point may be a take-off point or a point determined from the actual environment surrounding the field. The plant protection unmanned aerial vehicle is at returning the navigation point and adding the liquid medicine and take off the back, directly flies to the disconnected medicine position, continues to spray the operation. It should be noted that: the relatively thin solid lines in fig. 1 are the paths of the first rack of sprays and the relatively thick solid lines are the paths of the second rack of sprays; a relatively thin dotted line is a first return route L3, and during return, the plant protection unmanned aerial vehicle is unloaded and does not spray; the relatively thick dotted line is a path L4 from the second set of flights to the explosive-breaking position, and during the flight of this path, the plant protection unmanned aerial vehicle is fully loaded and does not spray; the parallel route of length of side L2 with the field is the route of plant protection unmanned aerial vehicle when trading the ridge, and plant protection unmanned aerial vehicle does not spray when trading the ridge.

However, in the spraying process of the plant protection unmanned aerial vehicle, if the side length L1 of the field is long, for example, more than 1 km, on one hand, the plant protection unmanned aerial vehicle needs to fly a long path L3 in an empty and non-spraying state for adding the pesticide after the pesticide breaking event, and on the other hand, when the plant protection unmanned aerial vehicle resumes the spraying operation after the pesticide breaking event, the plant protection unmanned aerial vehicle needs to fly a long path L4 in a full and non-spraying state and then can start spraying again. In the process, the flight path of the plant protection unmanned aerial vehicle in the non-spraying state is long, so that great consumption and waste of battery resources and system resources of the plant protection unmanned aerial vehicle are caused, and the spraying efficiency is low.

Disclosure of Invention

The invention provides a spraying control method, a spraying control device, a ground station and a storage medium, and aims to solve the technical problem that battery resources and system resources of the existing plant protection unmanned aerial vehicle are consumed and wasted greatly.

In a first aspect, an embodiment of the present invention provides a spraying control method, including:

determining a planned path of a target frame of a plant protection unmanned aerial vehicle according to position information of a starting waypoint of the target frame of the plant protection unmanned aerial vehicle and working parameters of the plant protection unmanned aerial vehicle; the planned path comprises a far-direction section and a near-direction section which are alternated, the far-direction section and the near-direction section are parallel, a starting waypoint of the far-direction section is close to a flying point of the target frame relative to an ending waypoint, and a starting waypoint of the near-direction section is far away from the flying point relative to the ending waypoint;

correcting the planned path according to the position relation between the ending flight and the target near flight section of the planned path, and acquiring the corrected planned path and a back-flight point corresponding to the corrected planned path; the target near navigation segment is the near navigation segment farthest from the starting waypoint of the target frame;

sending a medicine adding instruction to a medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle; the pesticide adding instruction comprises the amount of pesticide to be added to a pesticide box of the plant protection unmanned aerial vehicle by the pesticide filling machine;

and sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

In a second aspect, an embodiment of the present invention further provides a spraying control apparatus, including:

the first determining module is used for determining a planned path of a target frame of a plant protection unmanned aerial vehicle according to the position information of an initial waypoint of the target frame and working parameters of the plant protection unmanned aerial vehicle; the planned path comprises a far-direction section and a near-direction section which are alternated, the far-direction section and the near-direction section are parallel, a starting waypoint of the far-direction section is close to a flying point of the target frame relative to an ending waypoint, and a starting waypoint of the near-direction section is far away from the flying point relative to the ending waypoint;

the correcting module is used for correcting the planned path according to the position relation between the ending flight point of the planned path and the target near flight segment, and acquiring the corrected planned path and a return flight point corresponding to the corrected planned path; the target near navigation segment is the near navigation segment farthest from the starting waypoint of the target frame;

the first sending module is used for sending a medicine adding instruction to the medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle; the pesticide adding instruction comprises the amount of pesticide to be added to a pesticide box of the plant protection unmanned aerial vehicle by the pesticide filling machine;

and the second sending module is used for sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

In a third aspect, an embodiment of the present invention further provides a ground station, where the ground station includes:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement a spray control method as provided in the first aspect.

In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the spray control method as provided in the first aspect.

The embodiment of the invention provides a spraying control method, a device, a ground station and a storage medium, wherein the method comprises the following steps: determining a planning path of a target frame number according to position information of a starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and working parameters of the plant protection unmanned aerial vehicle, correcting the planning path according to a position relation between an ending waypoint of the planning path and a target near flight section, acquiring a corrected planning path and a return waypoint corresponding to the corrected planning path, sending a medicine adding instruction to a medicine filling machine according to the corrected planning path and residual medicine amount of a medicine box of the plant protection unmanned aerial vehicle, and sending the corrected planning path and the return waypoint to the plant protection unmanned aerial vehicle. On the one hand, the planned path is corrected according to the position relation between the end flight point of the planned path and the target near flight segment, so that the flying path of the plant protection unmanned aerial vehicle is short in the non-spraying state in the process of operating according to the corrected planned path and returning to the return point. On the other hand, after the plant protection unmanned aerial vehicle is added with the pesticide amount through the pesticide filling machine, the pesticide amount in the pesticide box can just meet the pesticide amount sprayed by the plant protection unmanned aerial vehicle on the target frame, the plant protection unmanned aerial vehicle is in a no-load flight state in the process of returning to a navigation point after the plant protection unmanned aerial vehicle executes the corrected planned path of the target frame, and the waste of battery resources of the plant protection unmanned aerial vehicle is avoided. Therefore, the embodiment of the invention reduces the consumption and waste of the battery resources and the system resources of the plant protection unmanned aerial vehicle and improves the spraying efficiency.

Drawings

Fig. 1 is a schematic diagram of a path of a plant protection unmanned aerial vehicle during a spraying process in the prior art;

FIG. 2 is a system architecture diagram of a spray control method provided by the present invention;

FIG. 3 is a schematic flow chart of a first embodiment of a spraying control method provided by the present invention;

FIG. 4 is a schematic diagram of a planned path in a first embodiment of a spraying control method provided by the present invention;

FIG. 5 is a schematic flow chart illustrating a second embodiment of a spray control method according to the present invention;

fig. 6A is a schematic view of a virtual ending waypoint of a target near navigation segment in a second embodiment of the spraying control method provided by the invention;

fig. 6B is a schematic diagram of a first positional relationship between an end waypoint of a planned path and a target proximal leg in a second embodiment of the spraying control method provided by the invention;

fig. 6C is a schematic diagram of a second position relationship between an end waypoint of the planned path and a target proximal leg in a second embodiment of the spraying control method provided by the invention;

fig. 6D is a schematic diagram of a third positional relationship between an end waypoint of a planned path and a target proximal leg in the second embodiment of the spraying control method provided by the invention;

FIG. 7 is a schematic flow chart illustrating a third embodiment of a spray control method according to the present invention;

FIG. 8 is a schematic structural diagram of a first exemplary embodiment of a spray control device;

FIG. 9 is a schematic structural diagram of a second embodiment of a spray control device according to the present invention;

FIG. 10 is a schematic structural view of a third embodiment of a spray control device according to the present invention;

fig. 11 is a schematic structural diagram of a ground station provided in the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 2 is a system architecture diagram of a spray control method provided by the present invention. The spraying control method provided by the invention is applied to the spraying system shown in figure 2. The spraying in the invention refers to that the plant protection unmanned aerial vehicle sprays pesticide to the field. As shown in fig. 2, the spraying system includes: plant protection unmanned aerial vehicle 21, ground station 22 and irritate medicine machine 23, plant protection unmanned aerial vehicle 21 and irritate medicine machine 23 and be connected with ground station 22 respectively. The connection may be a wireless connection. The medicine filling machine 23 in the invention is an automatic medicine filling machine with a flow metering function. In the invention, the ground station 22 may determine the planned path of the plant protection unmanned aerial vehicle 21 before the plant protection unmanned aerial vehicle 21 sprays the pesticide, and modify the planned path to determine the return point and the modified planned path. The ground station 22 sends a medicine adding instruction to the drenching machine 23 according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle 21. After adding the medicine, ground station 22 sends the planning route after the correction and the point of returning voyage to plant protection unmanned aerial vehicle 21 to make plant protection unmanned aerial vehicle 21 spray the operation according to this planning route after the correction, and after the operation is accomplished, fly back to the point of returning voyage and add the medicine. Compared with the operation path of the existing plant protection unmanned aerial vehicle, the spraying control method provided by the invention can determine a reasonable operation path and a return point for the plant protection unmanned aerial vehicle 21, and avoids the long flight path of the plant protection unmanned aerial vehicle in a non-spraying state, so that the consumption and waste of plant protection unmanned aerial vehicle battery resources and system resources are reduced, and the spraying efficiency is improved.

Fig. 3 is a schematic flow chart of a first embodiment of a spraying control method provided by the present invention. This embodiment is applicable to the scene that plant protection unmanned aerial vehicle sprayed the pesticide to the field. This embodiment may be performed by a spray control device, which may be implemented in software and/or hardware, which may be integrated in the ground station apparatus.

As shown in fig. 3, the spraying control method provided by this embodiment includes the following steps:

step 101: and determining the planned path of the target frame number according to the position information of the starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and the working parameters of the plant protection unmanned aerial vehicle.

The planned path comprises a far-direction flight segment and a near-direction flight segment which are alternated, the far-direction flight segment is parallel to the near-direction flight segment, a starting flight point of the far-direction flight segment is close to a flying start point of the target frame relative to an ending flight point, and a starting flight point of the near-direction flight segment is far away from the flying start point relative to the ending flight point.

Specifically, the "target installation number" in this embodiment refers to any installation number of the plant protection unmanned aerial vehicle. The erection of the plant protection unmanned aerial vehicle refers to the process from taking off, spraying to landing of the plant protection unmanned aerial vehicle in the spraying operation process.

If the target frame number is the first frame number of the plant protection unmanned aerial vehicle in the area to be sprayed, namely the target frame number is the frame number of the plant protection unmanned aerial vehicle which starts spraying the pesticide in the area to be sprayed for the first time, determining the position information of the starting waypoint of the target frame number according to the shape and the position of the area to be sprayed; if the target frame is not the first frame of the plant protection unmanned aerial vehicle in the area to be sprayed, the position information of the starting waypoint of the target frame can be determined according to the ending waypoint of the last frame of the target frame. For example, the position information of the start waypoint of the target rank may be the position information of the end waypoint of the last rank of the target rank, because the plant protection unmanned aerial vehicle needs to continue spraying from the end position of the last rank of the target rank when spraying the target rank.

The working parameters of the plant protection unmanned aerial vehicle refer to rated working parameters of the plant protection unmanned aerial vehicle. The working parameters are related to the attributes of the plant protection unmanned aerial vehicle, and the working parameters of plant protection unmanned aerial vehicles of different models may not be the same. Optionally, the operating parameters of the plant protection unmanned aerial vehicle may include the volume of the medicine box, the dosage per unit area, and the spray irradiation. Spray radiation refers to the width of the liquid medicine sprayed by the plant protection unmanned aerial vehicle.

One possible implementation of step 101 is: determining the length of a flight line corresponding to the target number of the plant protection unmanned aerial vehicle according to the pesticide box capacity, the unit area dosage and the spray radiation of the plant protection unmanned aerial vehicle; and determining a planned path of the target number according to the length of the flight line, the position information of the starting flight point of the target number, the shape of the plot of the area to be sprayed and the flight line planning rule.

More specifically, according to the formula

And determining the length of the fairway corresponding to the target number. Wherein K1 represents the length of the fairway, C1 represents the capacity of the medicine chest, W represents the dosage per unit area, and P represents the spray irradiation. The unit of the medicine chest capacity can be liter, the unit of the medicine dosage per unit area can be liter/square meter, the unit of the spray spoke can be meter, and the length of the fairway corresponding to the target number of framesIs rice.

It should be noted that the formula can also be used

And determining the length of the fairway corresponding to the target number. In this formula, the units of C1 are milliliters, the units of dosage per unit area are milliliters/acre, the units of spray radiation are meters, and the units of calculated K1 are meters.

The length of the flight line corresponding to the target number refers to the maximum length of the plant protection unmanned aerial vehicle which can fly in a spraying state based on the working parameters of the plant protection unmanned aerial vehicle in the target number operation process. For plant protection unmanned aerial vehicles with the same working parameters, the lengths of the air lines corresponding to the determined target number of the frames are the same.

After the length of the flight line of the target number is determined, the planning path of the target number is determined by combining the position information of the starting flight point of the target number, the shape of the plot of the area to be sprayed and the flight line planning rule. Optionally, the route planning rule is used to indicate an interval between adjacent legs in the planned path, a distance from a starting waypoint of a leg to a corresponding parcel boundary, a distance from an ending waypoint of a leg to a corresponding parcel boundary, and the like.

Fig. 4 is a schematic diagram of a planned path in a first embodiment of a spraying control method provided by the present invention. As shown in fig. 4, "mark" indicates a starting waypoint of the planned path, "form" indicates an ending waypoint of the planned path, "●" indicates a departure point of the target frame, "and" diamond "indicates a return point of the target frame. It should be noted that the starting waypoint of the planned path and the starting waypoint of the target number are the same point, the departure point of the target number may be the return point of the last number of the target number, and the ending waypoint of the planned path refers to the point where the plant protection unmanned aerial vehicle is expected to have a drug-breaking event.

As shown in fig. 4, the planned path includes alternating far legs and near legs, with parallelism between the far legs and the near legs. The number of the far-direction navigation sections and the number of the near-direction navigation sections are at least one. Each leg has its own starting and ending waypoints. The far-direction flight section refers to a flight section of which the starting flight point is close to the flying starting point relative to the ending flight point; a near leg refers to a leg whose starting waypoint is further from the departure point than the ending waypoint. In other words, the far-going flight segment refers to a flight segment formed when the plant protection unmanned aerial vehicle flies far away from the flying point, and the near-going flight segment refers to a flight segment formed when the plant protection unmanned aerial vehicle flies close to the flying point. In FIG. 4, the set of far legs is { B1, B3, … …, B (n-2), Bn }, and the set of near legs is { B2, B4, … …, B (n-3), B (n-1) }.

It should be noted that the dotted line in fig. 4 indicates a path of changing ridges, and the path of the plant protection unmanned aerial vehicle flying when changing ridges is omitted in this embodiment. The sum of the lengths of all the legs in the planned path of the target number is equal to the length of the fairway corresponding to the target number.

Step 101 is a step executed before the target frame of the plant protection unmanned aerial vehicle takes off, and the determined planned path of the target frame is a planned path corresponding to the target frame of the plant protection unmanned aerial vehicle theoretically.

Step 102: and correcting the planned path according to the position relation between the ending navigation point of the planned path and the target near navigation section, and acquiring the corrected planned path and a back navigation point corresponding to the corrected planned path.

And the target near navigation segment is the near navigation segment farthest from the starting waypoint of the target frame.

Specifically, after the planned path of the target number of the plant protection unmanned aerial vehicle is acquired in step 101, in step 102, the planned path of the target number of the plant protection unmanned aerial vehicle is corrected according to the position relationship between the ending point of the planned path and the target proximal flight segment.

The target near leg in this embodiment refers to a near leg farthest from the starting waypoint of the target frame among all the near legs. Referring to fig. 4, a vertical line L is drawn from the starting waypoint of the destination frame to the near leg, and the length of the vertical line L represents the distance between the near leg and the starting waypoint of the destination frame. Leg B (n-1) in FIG. 4 is the target near leg.

The position relationship between the end flight point of the planned path and the target near flight segment can be as follows: the end waypoint of the planned path is located on the target proximal leg and the end waypoint of the planned path is not located on the target proximal leg. And according to the two conditions, correcting the planned path of the target number, and acquiring the corrected planned path and the corresponding back-navigation point. The process of correcting the planned path of the goal ranking and the process of determining the waypoint will be described in detail in the second embodiment.

Step 103: and sending a medicine adding instruction to the medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle.

Wherein, add the medicine instruction and include the liquid medicine volume that the medicine filling machine waited to add to plant protection unmanned aerial vehicle's medical kit.

Specifically, in step 103, the spraying control device may first obtain the remaining pesticide amount of the pesticide box of the plant protection unmanned aerial vehicle, where the plant protection unmanned aerial vehicle actively reports the remaining pesticide amount to the spraying control device, or the spraying control device sends a remaining pesticide amount obtaining request to the plant protection unmanned aerial vehicle to obtain the remaining pesticide amount of the pesticide box.

One possible implementation of step 103 is: determining the corrected length of the flight line corresponding to the target number according to the lengths of all the flight sections in the corrected planned path; determining the amount of liquid medicine to be added corresponding to the target number according to a formula C3 ═ K2 ═ W × (1+ lam) -C2, wherein C3 represents the amount of liquid medicine to be added corresponding to the target number, K2 represents the corrected flight length, lam represents the error coefficient corresponding to the target number, C2 represents the residual medicine amount of the medicine box, and C3 is less than or equal to C1; and generating a medicine adding instruction according to the amount of the liquid medicine to be added, and sending the medicine adding instruction to the medicine filling machine. It should be noted that, when the calculated C3 is greater than C1, C3 is equal to C1. When the target frame is the first frame, lam is 0.1. In this formula, K2 is in meters, W is in milliliters per square meter, P is in meters, C2 is in milliliters, and C3 is in milliliters. Of course, the unit of W may also be liters per square meter, the unit of C2 is liters, and then the unit of C3 is liters.

It should be noted that the formula can also be used

And determining the amount of the liquid medicine to be added corresponding to the target frame. In this formula, units of K2 are meters, units of W are milliliters per acre, units of P are meters, units of C2 are milliliters, and units of C3 are also milliliters.

In the implementation manner, the corrected length of all the segments in the corrected planned path is added to determine the value as the corrected length of the fairway corresponding to the target number. The corrected air line length is less than or equal to the air line length involved in step 101.

And after the pesticide filling machine receives the pesticide filling instruction, adding the amount of the pesticide to be added into a pesticide box of the plant protection unmanned aerial vehicle. After the plant protection unmanned aerial vehicle adds the dose through the drenching machine, the dose in its medicine case is for can satisfying the dose that plant protection unmanned aerial vehicle sprayed at the target frame time just, has realized that plant protection unmanned aerial vehicle is in no-load flight state after the planning route of having carried out the correction of target frame time, the in-process of returning to the waypoint, has reduced the waste of the battery resource to plant protection unmanned aerial vehicle.

Step 104: and sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

Specifically, after receiving the corrected planned path and return points, the plant protection unmanned aerial vehicle performs spraying operation according to the corrected planned path, and returns to the return points for chemical continuation after spraying is completed.

Steps 102-104 are also steps performed before the plant protection unmanned aerial vehicle has a target frame takeoff.

The spraying control method provided by the embodiment comprises the steps of determining a planned path of a target frame number according to position information of a starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and working parameters of the plant protection unmanned aerial vehicle, correcting the planned path according to the position relation between an ending waypoint and a target proximal leg of the planned path, obtaining a corrected planned path and a return waypoint corresponding to the corrected planned path, sending a medicine adding instruction to a medicine filling machine according to the corrected planned path and the residual medicine amount of a medicine box of the plant protection unmanned aerial vehicle, and sending the corrected planned path and the return waypoint to the plant protection unmanned aerial vehicle. On the one hand, the planned path is corrected according to the position relation between the end flight point of the planned path and the target near flight segment, so that the flying path of the plant protection unmanned aerial vehicle is short in the non-spraying state in the process of operating according to the corrected planned path and returning to the return point. On the other hand, after the plant protection unmanned aerial vehicle is added with the pesticide amount through the pesticide filling machine, the pesticide amount in the pesticide box can just meet the pesticide amount sprayed by the plant protection unmanned aerial vehicle on the target frame, the plant protection unmanned aerial vehicle is in a no-load flight state in the process of returning to a navigation point after the plant protection unmanned aerial vehicle executes the corrected planned path of the target frame, and the waste of battery resources of the plant protection unmanned aerial vehicle is avoided. Therefore, the spraying control method provided by the embodiment reduces consumption and waste of battery resources and system resources of the plant protection unmanned aerial vehicle, and improves spraying efficiency.

Fig. 5 is a flowchart illustrating a second embodiment of a spraying control method according to the present invention. On the basis of the alternative solutions given in the first embodiment, the present embodiment describes how to modify the implementation manner of the planned path according to the position relationship between the end waypoint and the target near leg of the planned path in detail. As shown in fig. 5, the spraying control method provided by this embodiment includes the following steps:

step 501: and determining the planned path of the target frame number according to the position information of the starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and the working parameters of the plant protection unmanned aerial vehicle.

Step 501 is similar to the implementation process and technical principle of step 101, and is not described herein again.

Step 502: and when the ending waypoint of the planned path is determined to be positioned on the target near navigation segment and the ending waypoint of the planned path is coincident with the virtual ending waypoint of the target near navigation segment, determining the corrected planned path as the planned path.

Wherein: when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed where the target near navigation segment is located is smaller than or equal to a first preset threshold value, the virtual ending waypoint of the target near navigation segment is the ending waypoint of the target near navigation segment; when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed in which the target near navigation segment is located is larger than a first preset threshold value, taking the ending waypoint of the target near navigation segment as a starting point to serve as an extension line of the target near navigation segment, taking the virtual ending waypoint of the target near navigation segment as a point on the extension line, where a first boundary of the sub-region to be sprayed in which the target near navigation segment is located is smaller than a second preset threshold value, and the first boundary is a boundary close to a flying point in two boundaries, perpendicular to the target near navigation segment, of the sub-region to be sprayed in which the target near navigation segment is located.

Step 503: and when the ending waypoint of the planned path is determined to be positioned on the target near leg and the ending waypoint of the planned path is not coincident with the virtual ending waypoint of the target near leg, determining the corrected planned path as a set of other all legs, excluding the target near leg and the first target far leg, in the planned path.

The first target far-heading section is a far-heading section between the target near-heading section and a near-heading section which is far away from the starting waypoint of the target frame in the planned path.

Step 504: and when the ending waypoint of the planned path is determined not to be positioned on the target near leg, determining the corrected planned path as the set of all other legs of the second target far leg in the planned path.

And the second target far-direction navigation section is a far-direction navigation section behind the target near-direction navigation section.

In steps 502-504, two cases that the end waypoint of the planned path is in or not in the target near navigation segment are described based on the position relationship between the end waypoint of the planned path and the target near navigation segment. And when the end waypoint of the planned path is in the target near leg, whether the end waypoint of the planned path and the virtual end waypoint of the target near leg are overlapped or not is further divided into two cases.

The following describes how to define the virtual ending waypoint for the target near leg. Fig. 6A is a schematic view of a virtual ending waypoint of a target near navigation segment in a second embodiment of the spraying control method provided by the invention.

As shown in a diagram in fig. 6A, when the difference between the length of the target near leg and the length of the sub-region to be sprayed where the target near leg is located is less than or equal to the first preset threshold, the virtual ending waypoint of the target near leg is the ending waypoint of the target near leg. The sub-area to be sprayed in which the target near-heading segment is located refers to the area to be sprayed which only contains the target near-heading segment and does not contain other heading segments. and a region M in the graph a is a subregion to be sprayed where the target near flight segment is located. The length of the sub-area to be sprayed in which the target near flight segment is located refers to the length of the side parallel to the target near flight segment in the sub-area to be sprayed. The difference value between the length of the target near navigation segment and the length of the sub-area to be sprayed where the target near navigation segment is located is smaller than or equal to a first preset threshold value, which means that the length of the target near navigation segment is very close to the length of the sub-area to be sprayed where the target near navigation segment is located, in other words, the target near navigation segment is a complete navigation segment, and the end navigation point of the target near navigation segment is the position where ridge changing is needed. At this time, the virtual ending waypoint of the target near leg is the ending waypoint of the target near leg, that is, the virtual ending waypoint coincides with the actual ending waypoint. When the area to be sprayed is a regular rectangle, the target near flight is a complete flight, which means that the length of the target near flight is the same as the length of the far flight adjacent to the target near flight in the planned path.

As shown in a b diagram in fig. 6A, when a difference between the length of the target near leg and the length of the sub-area to be sprayed where the target near leg is located is greater than a first preset threshold, taking an end waypoint of the target near leg as a starting point as an extension line of the target near leg, and taking a virtual end waypoint of the target near leg as a point on the extension line where a first boundary with the sub-area to be sprayed where the target near leg is located is smaller than a second preset threshold. The first boundary is a boundary close to a flying point in two boundaries, wherein the two boundaries are perpendicular to the target near-direction flight segment and are a to-be-sprayed sub-region where the target near-direction flight segment is located. The difference value between the length of the target near navigation segment and the length of the sub-area to be sprayed where the target near navigation segment is located is larger than a first preset threshold value, which means that the difference between the length of the target near navigation segment and the length of the sub-area to be sprayed where the target near navigation segment is located is larger. In other words, the target near leg is an incomplete leg. The end waypoint of the target near voyage section is far away from the first boundary of the subarea to be sprayed in which the target near voyage section is positioned. Referring to fig. b, at this time, the ending waypoint Q of the target near leg is taken as the starting point to be used as the extension line N of the target near leg. The virtual ending waypoint V of the target near navigation section is a point on the extension line N, wherein the point is smaller than a second preset threshold value with a first boundary S of the sub-area O to be sprayed, in which the target near navigation section is located. In this case, the virtual ending waypoint of the target proximal segment does not coincide with the ending waypoint of the target proximal segment. When the area to be sprayed is a regular rectangle, the target near flight segment is not a complete flight segment, which means that the length of the target near flight segment is less than that of the far flight segment adjacent to the target near flight segment in the planned path.

Fig. 6B is a schematic diagram of a first positional relationship between an end waypoint of a planned path and a target proximal leg in a second embodiment of the spraying control method provided by the invention. As shown in FIG. 6B, the planned path shown is the set of { B1, B2, B3, … …, B (n-2), B (n-1) }. In fig. 6B, the end waypoint T of the planned path is located on the target proximal leg B (n-1), and the end waypoint T of the planned path coincides with the virtual end waypoint U of the target proximal leg, i.e., the target proximal leg B (n-1) is a complete leg. In this case, the revised planned path is determined as the planned path determined in step 501, i.e., the revised planned path is the set of { B1, B2, B3, B4, … …, B (n-3), B (n-2), B (n-1) }.

Fig. 6C is a schematic diagram of a second position relationship between the end waypoint of the planned path and the target proximal segment in the second embodiment of the spraying control method provided by the invention. As shown in FIG. 6C, the planned path shown is the set of { B1, B2, B3, … …, B (n-2), B (n-1) }. In fig. 6C, the end waypoint T of the planned path is located on the target proximal leg B (n-1), and the end waypoint T of the planned path does not coincide with the virtual end waypoint U of the target proximal leg, i.e., the target proximal leg B (n-1) is an incomplete leg. In this case, the revised planned path is determined to be the set of all other legs of the planned path, excluding the target near leg B (n-1) and the first target far leg B (n-2), i.e., the revised planned path is the set of { B1, B2, B3, B4, … …, B (n-3) }.

Fig. 6D is a schematic diagram of a third positional relationship between an end waypoint of a planned path and a target proximal leg in the second embodiment of the spraying control method provided by the invention. As shown in FIG. 6D, the planned path shown is the set of { B1, B2, B3, … …, B (n-2), B (n-1), Bn }. In fig. 6C, the end waypoint T of the planned path is not located on the target near leg B (n-1), but is located on the second target far leg Bn. In this case, the revised planned path is determined to be the set of all other legs of the planned path, excluding the second target far leg, i.e. the revised planned path is the set of { B1, B2, B3, B4, … …, B (n-3), B (n-2), B (n-1) }.

Step 505: and determining the position closest to the end waypoint of the corrected planned path as a return waypoint according to the requirements of the take-off and landing space rules.

Specifically, after the corrected planned path is determined, the position closest to the ending waypoint of the corrected planned path is determined as the return waypoint according to the requirements of the take-off and landing space rules. Plant protection unmanned aerial vehicle can continue the medicine at returning the navigation point, and the staff also can overhaul plant protection unmanned aerial vehicle at returning the navigation point.

Referring to fig. 6B-6D, the positions of the waypoints corresponding to the revised planned path are marked in the figures.

Step 506: and sending a medicine adding instruction to the medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle.

Step 501 is similar to the implementation process and technical principle of step 103, and is not described herein again.

Step 507: and sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

Step 507 is similar to the implementation process and technical principle of step 104, and is not described herein again.

The spraying control method provided by the embodiment defines how to modify the planned path and obtain the modified planned path and the return point corresponding to the modified planned path according to the position relationship between the end flight point of the planned path and the target proximal flight segment, and on one hand, the plant protection unmanned aerial vehicle has a shorter flight path in a non-spraying state in the process of operating according to the modified planned path and returning to the return point, so that the waste of battery resources and system resources of the plant protection unmanned aerial vehicle is reduced.

Fig. 7 is a schematic flow chart of a third embodiment of a spraying control method provided by the present invention. On the basis of the alternatives given in the first embodiment and the second embodiment, the embodiment will be described in detail after the corrected planned path and the corrected waypoint are sent to the plant protection unmanned aerial vehicle. As shown in fig. 7, the spraying control method provided by this embodiment includes the following steps:

step 701: and determining the planned path of the target frame number according to the position information of the starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and the working parameters of the plant protection unmanned aerial vehicle.

Step 702: and correcting the planned path according to the position relation between the ending navigation point of the planned path and the target near navigation section, and acquiring the corrected planned path and a back navigation point corresponding to the corrected planned path.

Step 703: and sending a medicine adding instruction to the medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle.

Step 704: and sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

The implementation process and technical principle of steps 701 to 704 are similar to those of steps 101 to 104, and are not described herein again.

Step 705: and determining an error coefficient corresponding to the next frame of the target frame according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame.

Specifically, because plant protection unmanned aerial vehicle can have the error at the operation in-process that sprays, so, plant protection unmanned aerial vehicle can appear following two kinds of circumstances in the operation of objective frame time: in the first situation, when the plant protection unmanned aerial vehicle does not execute the corrected planned path, the liquid medicine is consumed; in the second case, the plant protection unmanned aerial vehicle still has the medicine amount left after the corrected planned path is executed.

For the first case, the process of step 705 specifically includes:

if the situation that the liquid medicine is consumed when the plant protection unmanned aerial vehicle does not execute the corrected planned path is determined, determining the length of the flight line which is not executed in the target number of the plant protection unmanned aerial vehicle; according to the formula

And determining an error coefficient corresponding to the next frame of the target frame. The symbol lam' represents an error coefficient corresponding to the next frame of the target frame, the symbol K2 represents a corrected fairway length corresponding to the target frame, the symbol K3 represents a fairway length which is not executed in the target frame of the plant protection unmanned aerial vehicle, and the symbol lam is an error coefficient corresponding to the target frame.

The length of the flight line of the plant protection unmanned aerial vehicle, which is not executed in the target number, can be determined by the spraying control device according to the length of the flight segment executed by the plant protection unmanned aerial vehicle and the corrected planned path.

For the second case, the process of step 705 specifically includes:

if the plant protection unmanned aerial vehicle is determined to have residual medicine amount after the corrected planned path is executed, and C4>K2W P lam, according to the formula

And determining an error coefficient corresponding to the next frame of the target frame. Wherein lam' represents an error coefficient corresponding to the next frame of the target frame, K2 represents a corrected fairway length corresponding to the target frame, C4 represents the residual medicine amount after the plant protection unmanned aerial vehicle has executed the target frame, and lam is an error coefficient corresponding to the target frame. In this formula, K2 is in meters, W is in milliliters per square meter, P is in meters, and C4 is in milliliters. Of course, the unit of W may also be liters per square meter and the unit of C4 is liters.

It should be noted that when the unit of W is ml/mu, it is necessary to

According to the formula

And determining an error coefficient corresponding to the next frame of the target frame. In this implementation, units of K2 are meters, units of P are meters, units of C4 are milliliters.

After the error coefficient corresponding to the next frame of the target frame is determined, when the amount of the liquid medicine to be added corresponding to the next frame of the target frame is determined, the amount of the liquid medicine to be added can be calculated more accurately.

According to the spraying control method provided by the embodiment, the error coefficient corresponding to the next frame of the target frame is determined according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame, so that the amount of the liquid medicine to be added corresponding to the next frame of the target frame is calculated more accurately according to the error coefficient corresponding to the next frame of the target frame, and the waste of battery resources and system resources of the plant protection unmanned aerial vehicle is further reduced.

Fig. 8 is a schematic structural diagram of a first embodiment of a spraying control device provided in the present invention. As shown in fig. 8, the present embodiment provides a spray control device including: a first determination module 81, a correction module 82, a first sending module 83, and a second sending module 84.

The first determining module 81 is configured to determine a planned path of the target frame number according to the position information of the starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and the working parameters of the plant protection unmanned aerial vehicle.

The planned path comprises a far-direction navigation section and a near-direction navigation section which are alternated, and the far-direction navigation section and the near-direction navigation section are parallel. The starting waypoint of the far-direction flight section is close to the flying start point of the target frame relative to the ending waypoint, and the starting waypoint of the near-direction flight section is far away from the flying start point relative to the ending waypoint.

Optionally, the operating parameters include the volume of the medicine chest, the dosage per unit area and the spray irradiation. The first determining module 81 is specifically configured to: determining the length of a flight line corresponding to the target number of the plant protection unmanned aerial vehicle according to the pesticide box capacity, the unit area dosage and the spray radiation of the plant protection unmanned aerial vehicle; and determining a planned path of the target number according to the length of the flight line, the position information of the starting flight point of the target number, the shape of the plot of the area to be sprayed and the flight line planning rule.

More specifically, in the aspect of determining the length of the flight line corresponding to the target number of frames of the plant protection unmanned aerial vehicle according to the medicine box capacity, the unit area dosage and the spray radiation of the plant protection unmanned aerial vehicle, the first determining module 81 is specifically configured to: according to the formula

And determining the length of the flight line. Wherein K1 represents the length of the fairway, C1 represents the capacity of the medicine chest, W represents the dosage per unit area, and P represents the spray irradiation.

And the correcting module 82 is configured to correct the planned path according to the position relationship between the ending point of the planned path and the target proximal leg, and acquire the corrected planned path and a return point corresponding to the corrected planned path.

And the first sending module 83 is configured to send a medicine adding instruction to the medicine filling machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle.

Optionally, the first sending module 83 is specifically configured to: determining the corrected length of the flight line corresponding to the target number according to the lengths of all the flight sections in the corrected planned path; determining the amount of liquid medicine to be added corresponding to a target frame according to a formula C3 ═ K2 ═ W × (1+ lam) -C2, wherein C3 represents the amount of liquid medicine to be added corresponding to the target frame, K2 represents the corrected flight length, lam represents the error coefficient corresponding to the target frame, C2 represents the residual medicine amount of the medicine box, and when C3 is larger than C1, C3 is determined to be equal to C1; and generating a medicine adding instruction according to the amount of the liquid medicine to be added, and sending the medicine adding instruction to the medicine filling machine.

And a second sending module 84, configured to send the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle.

The spraying control device provided by the embodiment of the invention can execute the spraying control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 9 is a schematic structural diagram of a second embodiment of a spraying control device provided in the present invention. As shown in fig. 9, in the present embodiment, the modification module 82 specifically includes: a first determination submodule 821, a second determination submodule 822, a third determination submodule 823 and a fourth determination submodule 824.

The first determining sub-module 821 is configured to determine that the revised planned path is the planned path when it is determined that the ending waypoint of the planned path is located on the target proximal leg and the ending waypoint of the planned path coincides with the virtual ending waypoint of the target proximal leg.

Wherein: when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed where the target near navigation segment is located is smaller than or equal to a first preset threshold value, the virtual ending waypoint of the target near navigation segment is the ending waypoint of the target near navigation segment; when the difference value between the length of the target near navigation segment and the length of the sub-area to be sprayed where the target near navigation segment is located is larger than a first preset threshold value, taking the ending waypoint of the target near navigation segment as a starting point to serve as an extension line of the target near navigation segment, and taking the virtual ending waypoint of the target near navigation segment as a point, on the extension line, where a first boundary between the virtual ending waypoint and the sub-area to be sprayed where the target near navigation segment is located is smaller than a second preset threshold value. The first boundary is a boundary close to a flying point in two boundaries, wherein the two boundaries are perpendicular to the target near-direction flight segment and are a to-be-sprayed sub-region where the target near-direction flight segment is located.

And a second determining submodule 822, configured to determine, when it is determined that the end waypoint of the planned path is located on the target proximal leg and the end waypoint of the planned path is not coincident with the virtual end waypoint of the target proximal leg, that the revised planned path is a set of other all legs, excluding the target proximal leg and the first target distal leg, in the planned path.

The third determining sub-module 823 is configured to determine, when it is determined that the end waypoint of the planned path is not located on the target near leg, that the revised planned path is the set of all other legs, excluding the second target far leg, in the planned path.

And a fourth determining submodule 824, configured to determine, according to the requirement of the take-off and landing space rule, a position closest to the end waypoint of the revised planned path as a return waypoint.

The spraying control device provided by the embodiment of the invention can execute the steps of the second spraying control method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 10 is a schematic structural diagram of a third embodiment of a spraying control device provided in the present invention. As shown in fig. 10, the spraying control device provided by the embodiment further includes a second determining module 85.

And a second determining module 85, configured to determine an error coefficient corresponding to the next frame of the target frame according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame.

One kind realizesIn a manner, the second determining module 85 is specifically configured to: if the situation that the liquid medicine is consumed when the plant protection unmanned aerial vehicle does not execute the corrected planned path is determined, determining the length of the flight line which is not executed in the target number of the plant protection unmanned aerial vehicle; according to the formula

And determining an error coefficient corresponding to the next frame of the target frame.

And lam' represents an error coefficient corresponding to the next frame of the target frame, K2 represents a corrected fairway length corresponding to the target frame, and K3 represents a fairway length which is not executed in the target frame by the plant protection unmanned aerial vehicle.

In another implementation manner, the second determining module 85 is specifically configured to: if the plant protection unmanned aerial vehicle is determined to have residual medicine amount after the corrected planned path is executed, and C4>K2W P lam, according to the formula

Wherein lam' represents an error coefficient corresponding to the next frame of the target frame, K2 represents a corrected fairway length corresponding to the target frame, and C4 represents the residual drug amount after the plant protection unmanned aerial vehicle has executed the target frame.

The spraying control device provided by the embodiment of the invention can execute the steps of the third spraying control method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 11 is a schematic structural diagram of a ground station provided in the present invention. As shown in fig. 11, the ground station includes a processor 70 and a memory 71. The number of the processors 70 in the ground station may be one or more, and one processor 70 is taken as an example in fig. 11; the processor 70 and the memory 71 of the server may be connected by a bus or other means, as exemplified by the bus connection in fig. 11.

The memory 71 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions and modules corresponding to the spray control method in the embodiment of the present invention (for example, the first determining module 81, the modifying module 82, the first sending module 83, and the second sending module 84 in the spray control device). The processor 70 executes various functional applications of the server and data processing by executing software programs, instructions and modules stored in the memory 71, that is, implements the above-described spray control method.

The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the ground station, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 71 may further include memory located remotely from processor 70, which may be connected to a ground station via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The present invention also provides a storage medium containing computer-executable instructions which, when executed by a computer processor, are operable to perform a spray control method, the method comprising:

Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the spray control method provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the spraying control device, the units and modules included in the embodiment are only divided according to the function logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A spray control method, comprising:

sending the corrected planned path and the corrected return point to the plant protection unmanned aerial vehicle;

the correcting the planned path according to the position relationship between the ending point of the planned path and the target near leg to obtain the corrected planned path and the return point corresponding to the corrected planned path includes:

when the end waypoint of the planned path is determined to be located on the target near navigation segment and the end waypoint of the planned path is coincident with the virtual end waypoint of the target near navigation segment, determining the revised planned path as the planned path; wherein: when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed where the target near navigation segment is located is smaller than or equal to a first preset threshold value, the virtual ending waypoint of the target near navigation segment is the ending waypoint of the target near navigation segment; when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed, where the target near navigation segment is located, is greater than the first preset threshold, taking an ending waypoint of the target near navigation segment as a starting point to serve as an extension line of the target near navigation segment, taking a virtual ending waypoint of the target near navigation segment as a point, on the extension line, where a first boundary of the sub-region to be sprayed, where the target near navigation segment is located, is smaller than a second preset threshold, and the first boundary is a boundary, which is close to the flying point, of two boundaries, where the sub-region to be sprayed, where the target near navigation segment is located, and the target near navigation segment are perpendicular to each other;

when the end waypoint of the planned path is determined to be located on the target near leg and the end waypoint of the planned path is not coincident with the virtual end waypoint of the target near leg, determining the corrected planned path as a set of other all legs, excluding the target near leg and the first target far leg, in the planned path; the first target far-direction leg is a far-direction leg between the target near-direction leg and a near-direction leg which is further away from the starting waypoint of the target frame in the planned path;

when the ending waypoint of the planned path is determined not to be located on the target near leg, determining the corrected planned path as a set of other all legs, excluding a second target far leg, in the planned path; wherein the second target far-heading segment is a far-heading segment behind the target near-heading segment;

determining the position closest to the end waypoint of the corrected planned path as the return waypoint according to the requirements of the take-off and landing space rules;

each leg has its own starting and ending waypoints.

2. The method of claim 1, wherein the operational parameters include a kit capacity, a dosage per unit area, and spray exposure;

the determining of the planned path of the target frame number according to the position information of the starting waypoint of the target frame number of the plant protection unmanned aerial vehicle and the working parameters of the plant protection unmanned aerial vehicle comprises the following steps:

determining the length of a flight line corresponding to the target number of the plant protection unmanned aerial vehicle according to the pesticide box capacity, the unit area pesticide consumption and the spray radiation of the plant protection unmanned aerial vehicle;

and determining the planned path of the target number according to the length of the flight line, the position information of the starting flight point of the target number, the shape of the plot of the area to be sprayed and the flight line planning rule.

3. The method according to claim 2, wherein the determining a flight line length corresponding to a target number of the plant protection unmanned aerial vehicle according to the medicine box capacity, the medicine dosage per unit area and the spray radiation of the plant protection unmanned aerial vehicle comprises:

according to the formula

Determining the length of the flight line; wherein K1 represents the flight line length, C1 represents the medicine box capacity, W represents the unit area dosage, and P represents the spray irradiation.

4. The method according to claim 3, wherein the sending a medicine adding instruction to a drenching machine according to the corrected planned path and the residual medicine amount of the medicine box of the plant protection unmanned aerial vehicle comprises:

determining the corrected length of the flight line corresponding to the target number according to the lengths of all the flight sections in the corrected planned path;

according to the formula

Determining the amount of the liquid medicine to be added corresponding to the target number; c3 represents the amount of liquid medicine to be added corresponding to the target number, K2 represents the corrected flight length, lam represents the error coefficient corresponding to the target number, C2 represents the residual medicine amount of the medicine box, and when C3 is larger than C1, C3 is determined to be equal to C1;

and generating the medicine adding instruction according to the amount of the liquid medicine to be added, and sending the medicine adding instruction to the medicine filling machine.

5. The method of claim 4, wherein after said sending the revised planned path and the waypoint to the plant protection drone, the method further comprises:

and determining an error coefficient corresponding to the next frame of the target frame according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame.

6. The method according to claim 5, wherein the determining an error coefficient corresponding to a next frame of the target frame according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame comprises:

if the situation that the liquid medicine is consumed when the plant protection unmanned aerial vehicle does not execute the corrected planned path is determined, determining the length of the flight line of the plant protection unmanned aerial vehicle which is not executed in the target number;

according to the formula

Determining an error coefficient corresponding to the next frame of the target frame; wherein,

to express the purposeAnd K3 represents the length of the flight line of the plant protection unmanned aerial vehicle which is not executed in the target frame.

7. The method according to claim 5, wherein the determining an error coefficient corresponding to a next frame of the target frame according to the operation condition of the plant protection unmanned aerial vehicle on the target frame and the error coefficient corresponding to the target frame comprises:

if the situation that the amount of the medicine is remained and the plant protection unmanned aerial vehicle has the corrected planned path is determined, the medicine amount is remained, and

according to the formula

and C4 represents the residual drug amount of the plant protection unmanned aerial vehicle after the plant protection unmanned aerial vehicle finishes executing the target frame.

8. A spray control device, comprising:

the correction module specifically comprises: a first determining submodule, a second determining submodule, a third determining submodule and a fourth determining submodule;

the first determining submodule is used for determining the corrected planned path as the planned path when the ending waypoint of the planned path is determined to be positioned on the target near navigation segment and the ending waypoint of the planned path is coincident with the virtual ending waypoint of the target near navigation segment;

wherein: when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed where the target near navigation segment is located is smaller than or equal to a first preset threshold value, the virtual ending waypoint of the target near navigation segment is the ending waypoint of the target near navigation segment; when the difference value between the length of the target near navigation segment and the length of the sub-region to be sprayed where the target near navigation segment is located is larger than a first preset threshold value, taking the ending waypoint of the target near navigation segment as a starting point to serve as an extension line of the target near navigation segment, and taking the virtual ending waypoint of the target near navigation segment as a point, on the extension line, where a first boundary between the virtual ending waypoint of the target near navigation segment and the sub-region to be sprayed where the target near navigation segment is located and is smaller than a second preset threshold value; the first boundary is a boundary close to a flying point in two boundaries, wherein the two boundaries are perpendicular to the target near-direction flight segment and are a to-be-sprayed sub-region where the target near-direction flight segment is located;

the second determining submodule is used for determining that the corrected planned path is a set of all other legs of the planned path, wherein the set of all other legs does not include the target near leg and the first target far leg, and the revised planned path is the set of all other legs when the end waypoint of the planned path is determined to be located on the target near leg and the end waypoint of the planned path is not coincident with the virtual end waypoint of the target near leg; the first target far-direction leg is a far-direction leg between the target near-direction leg and a near-direction leg which is far away from an initial waypoint of the target frame in the planned path;

the third determining submodule is used for determining the corrected planned path as a set of all other legs, excluding the second target far-direction leg, in the planned path when the end waypoint of the planned path is determined not to be located on the target near-direction leg; the second target far-direction navigation section is a far-direction navigation section behind the target near-direction navigation section;

the fourth determining submodule is used for determining the position closest to the end waypoint of the corrected planned path as a return waypoint according to the requirements of the take-off and landing space rules; each flight segment has a starting waypoint and an ending waypoint of the flight segment;

9. A ground station, characterized in that the ground station comprises:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement a spray control method as claimed in any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out a spray control method as claimed in any one of claims 1 to 7.