CN109358643A - A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing - Google Patents
A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing Download PDFInfo
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- CN109358643A CN109358643A CN201811286746.8A CN201811286746A CN109358643A CN 109358643 A CN109358643 A CN 109358643A CN 201811286746 A CN201811286746 A CN 201811286746A CN 109358643 A CN109358643 A CN 109358643A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The multi-mode unmanned plane pesticide spraying system based on image procossing that the invention discloses a kind of, including being mounted on unmanned plane main control module, it further include the communication module being mounted on unmanned plane, the communication module is for the wireless signal transmission between main control module and console；Spray modes module, the spray modes module receive position and the dosage of main control module instruction control pesticide spraying, and control unmanned plane and carry out back and forth movement；Image draws a circle to approve processing module, for carrying out image delineation to crops and calculating each crop growth state transfer for drawing a circle to approve image to main control module；Motor pattern module, the motor pattern module receive whether main control module instruction control unmanned plane carries out left and right translation；The position control module being connect with main control module, for carrying out route memory and flight position control to unmanned plane；The sprinkling management for carrying out pesticide according to the concrete condition of each spray point during spraying insecticide, improves the efficiency of pesticide spraying, has control function of making a return voyage.
Description
Technical field
The present invention relates to pesticide spraying technical field, specially a kind of multi-mode unmanned plane pesticide spray based on image procossing
Spill system and method.
Background technique
The definition of pesticide broad sense refer to for prevent, eliminate or control harm agricultural, the disease of forestry, worm, grass and other
Harmful organism and purposefully adjusting control, influence plant and harmful organism metabolism, growth, develop, the chemistry of reproductive process
Synthesis or the mixing of a kind of substance or several substances that are generated from biology, other natural products and Applied Biotechnology
Object and its preparation.Refer in the narrow sense in agricultural production, for the growth for ensureing, promoting plant and crops, the desinsection applied,
Sterilization, a kind of drug for killing harmful animal (or weeds) are referred to as.It refers in particular to agriculturally for preventing and treating disease pest and adjusting plant
The medicaments such as growth, weeding.
It during carrying out pesticide spraying to crops, needs that personnel is avoided directly to contact, pass through in existing technology
Unmanned plane carries out pesticide spraying, such as patent " the pesticide spray based on Image Acquisition that number of patent application is 201410484669.2
Spill platform " can be realized the efficient pesticide spraying of large area, while can according to the upgrowth situations of sprinkling region crops from
The pesticide dosage of sprinkling is controlled, adaptively convenient for the manipulation and management of agricultural sector.But in actual work exist with
Lower problem, first, different running routes cannot be formulated according to corresponding spray area；Second, do not have during spraying insecticide
There is the sprinkling management that pesticide is further carried out according to the concrete condition of each spray point, pesticide utilization rate is not high；Third is not maked a return voyage
Control function.
Summary of the invention
In view of the above problems, the multi-mode unmanned plane pesticide spraying system that the present invention provides a kind of based on image procossing and
Method can formulate different running routes, according to the tool of each spray point during spraying insecticide according to corresponding spray area
Body situation carries out the sprinkling management of pesticide, improves the efficiency of pesticide spraying, has control function of making a return voyage；Background can effectively be solved
The problems in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of multi-mode unmanned plane based on image procossing
Pesticide spraying system, including it is mounted on unmanned plane main control module, further include
The communication module being mounted on unmanned plane, the communication module is for the wireless communication between main control module and console
Number transmission；
Spray modes module, the spray modes module receive position and the agent of main control module instruction control pesticide spraying
Amount, and control unmanned plane and carry out back and forth movement；
Image draws a circle to approve processing module, for carrying out image delineation to crops and calculating each crops life for drawing a circle to approve image
Long status is transferred to main control module；
Motor pattern module, it is flat whether the motor pattern module reception main control module instruction control unmanned plane carries out left and right
It moves；
The position control module being connect with main control module, for carrying out route memory and flight position control to unmanned plane.
As a preferred technical solution of the present invention, the position control module includes geographical location memory unit and flies
Row position control unit, the geographical location memory unit remember unmanned plane during flying route；The flight position control
Unit is used to control the height and advance route of unmanned plane during flying, and the unmanned plane height passes through radio transmitter, radio
Receiver and computing device are calculated, and the advance route is calculated by main control module and Beidou location positioning system；
Described image delineation module includes camera, image circle order member and image processing unit, and the camera is to agriculture
Crop is shot, and the image after shooting is drawn a circle to approve by image circle order member, and every frame image will be drawn a circle to approve as N number of region,
N number of delineation region green accounting is calculated separately out by image processing unit, the green accounting numerical value in N number of delineation region is inputted
To in main control module；
Unmanned plane during flying route are as follows: before sprinkling movement, setting one in the region sprayed is being needed to transport among the region
Capable route, and multiple nodes are set on the route；The master station will need to spray the farming object plane of each node region
Product and height are transferred in main control module by communication module, and unmanned plane carries out image taking to crops by camera,
The area of described image shooting changes according to drone flying height, and the position control module controls drone flying height
And it is provided with flying height threshold value；
Whether the motor pattern module control unmanned plane carries out left and right translation in respective nodes；
The advance route positions unmanned plane during flying position by BEI-DOU position system, is controlled by main control module
The advance route of unmanned plane, when unmanned plane reaches respective nodes, drone flying height is less than flying height threshold value and shooting
Area it is identical as the area that respective nodes need to spray region when, main controller control unmanned plane, which is moved left and right at the node, to be enclosed
The surface for determining image green accounting minimum value carries out pesticide control sprinkling according to delineation region green accounting size, sprays agriculture
After medicine, toward the next node rectilinear flight of flight path；
When shooting area of the unmanned plane in flying height threshold value fails to reach the area that respective nodes need to spray region
When, the motor pattern module controls in the flight path of unmanned plane without moving left and right, according to delineation region green accounting
Size carries out pesticide control sprinkling, after sprinkling, toward the next node rectilinear flight of flight path.
As a preferred technical solution of the present invention, the spray modes module includes two semicircular rotation sprinklings
Unit and a fixed point spray line be equipped with (N-1)/2 rotation spray line in each rotation spray unit, wherein N
Value is 7 or 9 or 11.Fixed point spray line is mounted on immediately below unmanned plane, and main control module control rotation spray unit is rotated
Afterwards, main control module is according to the green accounting numerical value in N number of delineation region, and control rotation spray line and a fixed point spray line are to N number of
Quantitative pesticide is sprayed respectively in delineation region；
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray region
When area is identical, the motor pattern module control unmanned plane is moved left and right until flight arrives delineation region green accounting numerical value most
It right above small place, and controls rotation spray unit and is rotated, each spray line and each delineation region correspond.
As a preferred technical solution of the present invention, the spray modes module includes sprinkling electricity control unit, spray
The amount of spilling control unit, sprinkling distance controlling unit, spray temperature control unit, sprinkling position control unit, when console starts
When round-trip instruction, the route that the sprinkling position control unit receives geographical location memory unit makes a return voyage.
The multi-mode unmanned plane pesticide spraying method based on image procossing that the present invention also provides a kind of, including following step
It is rapid:
The first step, main control module receive the sprinkling region area of console using communication module；
Second step carries out image delineation to crops and calculates each crop growth state transfer for drawing a circle to approve image to master
Control module；
Third step, determines the operating mode of spray modes module and motor pattern module, and motor pattern module receives master control
Whether module instruction control unmanned plane carries out left and right translation, and spray modes module receives main control module instruction and to each delineation image
Carry out quantitative sprinkling；Spray modes module controls unmanned plane according to main control module and carries out shuttle mode.
As a preferred technical solution of the present invention, the second step specifically include camera, image circle order member and
Image processing unit, the camera shoot crops, and the image after shooting is drawn a circle to approve by image circle order member,
Every frame image will be drawn a circle to approve as N number of region, calculate separately out N number of delineation region green accounting by image processing unit, will be N number of
The green accounting numerical value in delineation region is input in main control module；
The third step working principle are as follows: setting unmanned plane during flying route, before sprinkling movement, in the region accordingly sprayed
One route run among the region of setting, sets multiple nodes on the route；The master station will need to spray every
The crop area and height of a node region are transferred in main control module by communication module, and unmanned plane passes through camera pair
Crops carry out image taking, and the area of described image shooting changes according to drone flying height, control unmanned plane during flying
Simultaneously flying height threshold value is arranged in height；Unmanned plane during flying position is positioned by BEI-DOU position system, passes through main control module
Control unmanned plane advance route, when unmanned plane reach respective nodes, drone flying height be less than flying height threshold value and
When the area of shooting is identical as the area that respective nodes need to spray region, main controller control unmanned plane is moved left and right to the node
The surface of place's delineation image green accounting minimum value carries out pesticide control sprinkling, spray according to delineation region green accounting size
After spilling pesticide, toward the next node rectilinear flight of flight path；When shooting face of the unmanned plane in flying height threshold value
Product fails to reach respective nodes when needing to spray the area in region, in the flight path of the motor pattern module control unmanned plane
Without moving left and right, pesticide control sprinkling is carried out according to delineation region green accounting size, after sprinkling, toward flight path
Next node rectilinear flight.
As a preferred technical solution of the present invention, the spray modes module includes two semicircular rotation sprinklings
Unit and a fixed point spray line are equipped with (N-1)/2 rotation spray line, fixed point sprinkling in each rotation spray unit
Pipe is mounted on immediately below unmanned plane, and after main control module control rotation spray unit is rotated, main control module is according to N number of delineation area
The green accounting numerical value in domain, control rotation spray line and a fixed point spray line spray quantitative agriculture to N number of delineation region respectively
Medicine；Camera uses wide-angle camera, rotates the sprinkling maximum distance of spray line not less than point-to-point transmission farthest in shooting image
Distance guarantees that when the green accounting minimum value in N number of delineation region of the node is located at the edge of the image, unmanned plane flies to this
The edge of node carries out concentration sprinkling to it using fixed point spray line, remaining delineation region, main control module is according to unmanned plane
Mobile distance calculates current each delineation region with a distance from unmanned plane, and control rotation spray unit turns to suitable first
Orientation, main control module are ranked up N number of green accounting numerical value, the sequence of each rotation spray line and corresponding green accounting numerical value
Corresponding, control rotation spray line carries out the control of distance and fountain height to corresponding delineation region, and pesticide utilization efficiency is high.
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray region
When area is identical, the motor pattern module control unmanned plane is moved left and right until flight arrives delineation region green accounting numerical value most
It right above small place, and controls rotation spray unit and is rotated, each spray line and each delineation region correspond.
As a preferred technical solution of the present invention, the spray modes module includes sprinkling electricity control unit, spray
The amount of spilling control unit, sprinkling distance controlling unit, spray temperature control unit, sprinkling position control unit, sprinkling electricity control
Unit monitors unmanned plane electricity service condition, and when console starts round-trip instruction, the sprinkling position control unit receives ground
The route of reason position memory unit makes a return voyage, can according to the actual situation during making a return voyage, and spray modes module passes through
Main control module is controlled, and chooses whether to spray node each in return again using console；Rotate spray line and
It draws a circle to approve in fixed point spray line shooting image and is corresponded between region, sprinkling distance controlling unit includes and each spray line pair
The pressure pump answered, radio transmitter and the radio receiver radio that transmitting radio wave and reception are reflected to the ground respectively
Wave calculates transmitting and received time difference using computing device to calculate unmanned plane present level, the crops of present node
Height is inputted by console, the distance controlling pressure in conjunction with current unmanned plane height and delineation region from each corresponding sprinkling nozzle
Power pumps size, according to the operating pressure that image delineation region is pumped with the distance controlling corresponding pressure of corresponding spray line, fountain height control
Unit processed controls the pesticide volume sprayed in each spray line unit time and monitors the pesticide surplus in pesticide storage container, sprays
Temperature control unit controls pesticide temperature in pesticide storage container.
Compared with prior art, the beneficial effects of the present invention are:
1, different running routes can be formulated according to corresponding spray area；
2, the sprinkling management of pesticide is carried out according to the concrete condition of each spray point during spraying insecticide, improves pesticide
The efficiency of sprinkling；
3, there is control function of making a return voyage.
Detailed description of the invention
Fig. 1 is present system structural block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of multi-mode unmanned plane pesticide spray based on image procossing
System is spilt, including is mounted on unmanned plane main control module, further includes
The communication module being mounted on unmanned plane, the communication module is for the wireless communication between main control module and console
Number transmission；
Spray modes module, the spray modes module receive position and the agent of main control module instruction control pesticide spraying
Amount, and control unmanned plane and carry out back and forth movement；
Image draws a circle to approve processing module, for carrying out image delineation to crops and calculating each crops life for drawing a circle to approve image
Long status is transferred to main control module；
Motor pattern module, it is flat whether the motor pattern module reception main control module instruction control unmanned plane carries out left and right
It moves；
The position control module being connect with main control module, for carrying out route memory and flight position control to unmanned plane.
Preferably, the position control module includes geographical location memory unit and flight position control unit, describedly
Reason position memory unit remembers unmanned plane during flying route；The flight position control unit is for controlling unmanned plane during flying
Height and advance route, the unmanned plane height counted by radio transmitter, radio receiver and computing device
It calculates, the advance route is calculated by main control module and Beidou location positioning system；
Described image delineation module includes camera, image circle order member and image processing unit, and the camera is to agriculture
Crop is shot, and the image after shooting is drawn a circle to approve by image circle order member, and every frame image will be drawn a circle to approve as N number of region,
N number of delineation region green accounting is calculated separately out by image processing unit, the green accounting numerical value in N number of delineation region is inputted
To in main control module；
Unmanned plane during flying route are as follows: before sprinkling movement, setting one in the region sprayed is being needed to transport among the region
Capable route, and multiple nodes are set on the route；The master station will need to spray the farming object plane of each node region
Product and height are transferred in main control module by communication module, and unmanned plane carries out image taking to crops by camera,
The area of described image shooting changes according to drone flying height, and the position control module controls drone flying height
And it is provided with flying height threshold value；
Whether the motor pattern module control unmanned plane carries out left and right translation in respective nodes；
The advance route positions unmanned plane during flying position by BEI-DOU position system, is controlled by main control module
The advance route of unmanned plane, when unmanned plane reaches respective nodes, drone flying height is less than flying height threshold value and shooting
Area it is identical as the area that respective nodes need to spray region when, main controller control unmanned plane, which is moved left and right at the node, to be enclosed
The surface for determining image green accounting minimum value carries out pesticide control sprinkling according to delineation region green accounting size, sprays agriculture
After medicine, toward the next node rectilinear flight of flight path；
When shooting area of the unmanned plane in flying height threshold value fails to reach the area that respective nodes need to spray region
When, the motor pattern module controls in the flight path of unmanned plane without moving left and right, according to delineation region green accounting
Size carries out pesticide control sprinkling, after sprinkling, toward the next node rectilinear flight of flight path.
Preferably, the spray modes module includes two semicircular rotation spray units and a fixed point spray line,
(N-1)/2 rotation spray line is installed in each rotation spray unit, wherein the value of N is 7 or 9 or 11.Fixed point spray
It spills pipe to be mounted on immediately below unmanned plane, after main control module control rotation spray unit is rotated, main control module is according to N number of delineation
The green accounting numerical value in region, control rotation spray line and a fixed point spray line spray N number of delineation region quantitative respectively
Pesticide；
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray region
When area is identical, the motor pattern module control unmanned plane is moved left and right until flight arrives delineation region green accounting numerical value most
It right above small place, and controls rotation spray unit and is rotated, each spray line and each delineation region correspond.
Preferably, the spray modes module includes sprinkling electricity control unit, fountain height control unit, sprinkling distance control
Unit processed, spray temperature control unit, sprinkling position control unit, when console starts round-trip instruction, the sprinkling position
The route that control unit receives geographical location memory unit makes a return voyage.
The multi-mode unmanned plane pesticide spraying method based on image procossing that the present invention also provides a kind of, including following step
It is rapid:
The first step, main control module receive the sprinkling region area of console using communication module；
Second step carries out image delineation to crops and calculates each crop growth state transfer for drawing a circle to approve image to master
Control module；
Third step, determines the operating mode of spray modes module and motor pattern module, and motor pattern module receives master control
Whether module instruction control unmanned plane carries out left and right translation, and spray modes module receives main control module instruction and to each delineation image
Carry out quantitative sprinkling；Spray modes module controls unmanned plane according to main control module and carries out shuttle mode.
Preferably, the second step specifically includes camera, image circle order member and image processing unit, the camera
Crops are shot, the image after shooting is drawn a circle to approve by image circle order member, and every frame image will be drawn a circle to approve as N number of area
Domain calculates separately out N number of delineation region green accounting by image processing unit, by the green accounting numerical value in N number of delineation region
It is input in main control module；
The third step working principle are as follows: setting unmanned plane during flying route, before sprinkling movement, in the region accordingly sprayed
One route run among the region of setting, sets multiple nodes on the route；The master station will need to spray every
The crop area and height of a node region are transferred in main control module by communication module, and unmanned plane passes through camera pair
Crops carry out image taking, and the area of described image shooting changes according to drone flying height, control unmanned plane during flying
Simultaneously flying height threshold value is arranged in height；Unmanned plane during flying position is positioned by BEI-DOU position system, passes through main control module
Control unmanned plane advance route, when unmanned plane reach respective nodes, drone flying height be less than flying height threshold value and
When the area of shooting is identical as the area that respective nodes need to spray region, main controller control unmanned plane is moved left and right to the node
The surface of place's delineation image green accounting minimum value carries out pesticide control sprinkling, spray according to delineation region green accounting size
After spilling pesticide, toward the next node rectilinear flight of flight path；When shooting face of the unmanned plane in flying height threshold value
Product fails to reach respective nodes when needing to spray the area in region, in the flight path of the motor pattern module control unmanned plane
Without moving left and right, pesticide control sprinkling is carried out according to delineation region green accounting size, after sprinkling, toward flight path
Next node rectilinear flight.
Preferably, the spray modes module includes two semicircular rotation spray units and a fixed point spray line,
(N-1)/2 rotation spray line is installed in each rotation spray unit, fixed point spray line is mounted on immediately below unmanned plane,
After main control module control rotation spray unit is rotated, green accounting numerical value of the main control module according to N number of delineation region, control
Rotation spray line and a fixed point spray line spray quantitative pesticide to N number of delineation region respectively；Camera uses wide-angle imaging
Head rotates the sprinkling maximum distance of spray line not less than distance between two points farthest in shooting image, guarantees to work as the N number of of the node
When the green accounting minimum value in delineation region is located at the edge of the image, unmanned plane flies to the edge of the node, utilizes fixed point
Spray line carries out concentration sprinkling to it, remaining delineation region, main control module calculates currently according to the mobile distance of unmanned plane
Each delineation region is with a distance from unmanned plane, and control rotation spray unit turns to suitable orientation first, and main control module is to N number of green
Color accounting numerical value is ranked up, and each rotation spray line is corresponding with the sequence of corresponding green accounting numerical value, control rotation spray line
The control of distance and fountain height is carried out to corresponding delineation region, pesticide utilization efficiency is high.
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray region
When area is identical, the motor pattern module control unmanned plane is moved left and right until flight arrives delineation region green accounting numerical value most
It right above small place, and controls rotation spray unit and is rotated, each spray line and each delineation region correspond.
Preferably, the spray modes module includes sprinkling electricity control unit, fountain height control unit, sprinkling distance control
Unit processed, spray temperature control unit, sprinkling position control unit, sprinkling electricity control unit monitoring unmanned plane electricity use feelings
Condition, when console starts round-trip instruction, the route that the sprinkling position control unit receives geographical location memory unit is carried out
It makes a return voyage, can according to the actual situation during making a return voyage, spray modes module is controlled by main control module, utilizes control
Platform processed chooses whether to spray node each in return again；It rotates and is enclosed in spray line and fixed point spray line shooting image
Determine to correspond between region, sprinkling distance controlling unit includes pressure pump corresponding with each spray line, radio transmitter
With the radio receiver radio wave that transmitting radio wave and reception are reflected to the ground respectively, is calculated and emitted using computing device
Unmanned plane present level is calculated with the received time difference, the crops height of present node is inputted by console, in conjunction with
The distance controlling pressure pump size of current unmanned plane height and delineation region from each corresponding sprinkling nozzle, draws a circle to approve area according to image
The operating pressure that domain is pumped with the distance controlling corresponding pressure of corresponding spray line, fountain height control unit control each spray line unit
The time interior pesticide volume sprayed simultaneously monitors the pesticide surplus in pesticide storage container, and spray temperature control unit controls pesticide storage
Pesticide temperature in container.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of multi-mode unmanned plane pesticide spraying system based on image procossing, including it is mounted on unmanned plane main control module,
It is characterized in that: further including
The communication module being mounted on unmanned plane, the communication module are passed for the wireless signal between main control module and console
It is defeated；
Spray modes module, the spray modes module receive position and the dosage of main control module instruction control pesticide spraying, and
It controls unmanned plane and carries out back and forth movement；
Image draws a circle to approve processing module, for carrying out image delineation to crops and calculating each crop growth shape for drawing a circle to approve image
State is transferred to main control module；
Motor pattern module, the motor pattern module receive whether main control module instruction control unmanned plane carries out left and right translation；
The position control module being connect with main control module, for carrying out route memory and flight position control to unmanned plane.
2. a kind of multi-mode unmanned plane pesticide spraying system based on image procossing according to claim 1, feature exist
In:
The position control module includes geographical location memory unit and flight position control unit, and the geographical location memory is single
Member remembers unmanned plane during flying route；The flight position control unit is used to control the height and advance of unmanned plane during flying
Route, the unmanned plane height are calculated by radio transmitter, radio receiver and computing device, the anterior approach
Line is calculated by main control module and Beidou location positioning system；
Described image delineation module includes camera, image circle order member and image processing unit, and the camera is to crops
It is shot, the image after shooting is drawn a circle to approve by image circle order member, and every frame image will be drawn a circle to approve as N number of region, is passed through
Image processing unit calculates separately out N number of delineation region green accounting, and the green accounting numerical value in N number of delineation region is input to master
It controls in module；
Unmanned plane during flying route are as follows: before sprinkling movement, setting one is run among the region in the region that needs spray
Route, and multiple nodes are set on the route；The master station by need to spray each node region crop area and
Height is transferred in main control module by communication module, and unmanned plane carries out image taking to crops by camera, described
The area of image taking changes according to drone flying height, and the position control module controls drone flying height and sets
It is equipped with flying height threshold value；
Whether the motor pattern module control unmanned plane carries out left and right translation in respective nodes；
The advance route positions unmanned plane during flying position by BEI-DOU position system, controls nobody by main control module
The advance route of machine, when unmanned plane reaches respective nodes, drone flying height is less than the face of flying height threshold value and shooting
When product is identical as the area that respective nodes need to spray region, main controller control unmanned plane is moved left and right to delineation figure at the node
As the surface of green accounting minimum value, pesticide control sprinkling, knot of spraying insecticide are carried out according to delineation region green accounting size
Shu Hou, toward the next node rectilinear flight of flight path；
When shooting area of the unmanned plane in flying height threshold value fails to reach respective nodes and needs to spray the area in region, institute
State motor pattern module control unmanned plane flight path in without moving left and right, according to delineation region green accounting size into
Row pesticide control sprinkling, after sprinkling, toward the next node rectilinear flight of flight path.
3. a kind of multi-mode unmanned plane pesticide spraying system based on image procossing according to claim 2, feature exist
In:
The spray modes module includes two semicircular rotation spray units and a fixed point spray line, each rotation
(N-1)/2 rotation spray line is installed, fixed point spray line is mounted on immediately below unmanned plane, main control module control in spray unit
Rotation spray unit rotated after, main control module according to it is N number of delineation region green accounting numerical value, control rotation spray line and
One fixed point spray line sprays quantitative pesticide to N number of delineation region respectively；
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray the area in region
When identical, the motor pattern module control unmanned plane is moved left and right until flight is at delineation region green accounting numerical value minimum
Surface, and control rotation spray unit and rotated, each spray line and each delineation region correspond.
4. a kind of multi-mode unmanned plane pesticide spraying system based on image procossing according to claim 3, feature exist
In: the spray modes module includes sprinkling electricity control unit, fountain height control unit, sprinkling distance controlling unit, sprinkling
Temperature control unit, sprinkling position control unit, when console starts round-trip instruction, the sprinkling position control unit is received
The route of geographical location memory unit makes a return voyage.
5. a kind of multi-mode unmanned plane pesticide spraying method based on image procossing, it is characterised in that: the following steps are included:
The first step, main control module receive the sprinkling region area of console using communication module；
Second step carries out image delineation to crops and calculates each crop growth state transfer for drawing a circle to approve image to master control mould
Block；
Third step, determines the operating mode of spray modes module and motor pattern module, and motor pattern module receives main control module
Whether instruction control unmanned plane carries out left and right translation, and spray modes module receives main control module instruction and carries out to each delineation image
Quantitative sprinkling；Spray modes module controls unmanned plane according to main control module and carries out shuttle mode.
6. a kind of multi-mode unmanned plane pesticide spraying method based on image procossing according to claim 5, feature exist
In:
The second step specifically includes camera, image circle order member and image processing unit, the camera to crops into
Row shooting, image after shooting are drawn a circle to approve by image circle order member, and every frame image will be drawn a circle to approve as N number of region, pass through figure
As processing unit calculates separately out N number of delineation region green accounting, the green accounting numerical value in N number of delineation region is input to master control
In module；
The third step working principle are as follows: setting unmanned plane during flying route is set in the region accordingly sprayed before sprinkling movement
One route run among the region, sets multiple nodes on the route；The master station will need to spray each section
The crop area and height in point region are transferred in main control module by communication module, and unmanned plane is by camera to farming
Object carries out image taking, and the area of described image shooting changes according to drone flying height, controls drone flying height
And flying height threshold value is set；Unmanned plane during flying position is positioned by BEI-DOU position system, is controlled by main control module
The advance route of unmanned plane, when unmanned plane reaches respective nodes, drone flying height is less than flying height threshold value and shooting
Area it is identical as the area that respective nodes need to spray region when, main controller control unmanned plane, which is moved left and right at the node, to be enclosed
The surface for determining image green accounting minimum value carries out pesticide control sprinkling according to delineation region green accounting size, sprays agriculture
After medicine, toward the next node rectilinear flight of flight path；When shooting area of the unmanned plane in flying height threshold value not
When can reach respective nodes and needing to spray the area in region, in the flight path of the motor pattern module control unmanned plane not into
Row moves left and right, and pesticide control sprinkling is carried out according to delineation region green accounting size, after sprinkling, toward under flight path
One node rectilinear flight.
7. a kind of multi-mode unmanned plane pesticide spraying method based on image procossing according to claim 6, feature exist
In:
The spray modes module includes two semicircular rotation spray units and a fixed point spray line, each rotation
(N-1)/2 rotation spray line is installed, fixed point spray line is mounted on immediately below unmanned plane, main control module control in spray unit
Rotation spray unit rotated after, main control module according to it is N number of delineation region green accounting numerical value, control rotation spray line and
One fixed point spray line sprays quantitative pesticide to N number of delineation region respectively；
Drone flying height is less than the area of flying height threshold value and shooting and respective nodes need to spray the area in region
When identical, the motor pattern module control unmanned plane is moved left and right until flight is at delineation region green accounting numerical value minimum
Surface, and control rotation spray unit and rotated, each spray line and each delineation region correspond.
8. a kind of multi-mode unmanned plane pesticide spraying method based on image procossing according to claim 7, feature exist
In: the spray modes module includes sprinkling electricity control unit, fountain height control unit, sprinkling distance controlling unit, sprinkling
Temperature control unit, sprinkling position control unit, sprinkling electricity control unit monitor unmanned plane electricity service condition, work as console
When starting instructs back and forth, the route that the sprinkling position control unit receives geographical location memory unit makes a return voyage, and rotation is sprayed
It spills to draw a circle to approve in pipe and fixed point spray line shooting image and be corresponded between region, sprinkling distance controlling unit includes and each spray
The corresponding pressure pump of pipe is spilt, the operating pressure of the distance controlling corresponding pressure pump of region and corresponding spray line is drawn a circle to approve according to image,
Fountain height control unit controls the pesticide volume sprayed in each spray line unit time and monitors the pesticide in pesticide storage container
Surplus, spray temperature control unit control pesticide temperature in pesticide storage container.
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